Zhenyu Wei
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A framework called DexCompose is proposed to reuse pretrained dexterous policies for multi-task manipulation with explicit finger-level action ownership.
The paper introduces DexVerse, a large-scale and modular benchmark for dexterous manipulation with 100 tasks, 3 robot arms, 6 hands, and configurable visual variations.
A single robot platform, Handroid, is introduced that can function as both a dexterous hand and a humanoid robot, with interchangeable control and learning frameworks.
Papers
Handroid: Bridging Dexterous Hand and Humanoid
Ruogu Li, Chenyang Ma, Sikai Li, Zhenyu Wei +5 more
A single robot platform, Handroid, is introduced that can function as both a dexterous hand and a humanoid robot, with interchangeable control and learning frameworks.