UniDexTok learns embodiment-conditioned discrete tokens from a 22-DoF unified semantic interface to enable retargeting-free, cross-embodiment state representation for heterogeneous dexterous hands using real data.
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4 Pith papers cite this work. Polarity classification is still indexing.
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DexJoCo is a benchmark and toolkit with 11 functionally grounded tasks, 1.1K trajectories, and empirical benchmarks for task-oriented dexterous manipulation on MuJoCo.
HandITL enables seamless human intervention in VLA policies for bimanual dexterous manipulation, cutting jitter by 99.8% and improving refined policies by 19% over standard teleoperation.
ConTrack introduces a constrained RL method with online dual-variable adaptation and adaptive resets for improved long-horizon hand tracking in simulation and on real robots.
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DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo
DexJoCo is a benchmark and toolkit with 11 functionally grounded tasks, 1.1K trajectories, and empirical benchmarks for task-oriented dexterous manipulation on MuJoCo.