A three-level skill transfer framework combining LLM task planning, A* trajectory replanning, and tactile pose correction moved a drawer-opening-and-stacking skill to a cabinet scene with 8/10 real-robot success.
Learning score-based grasping primitive for human-assisting dexterous grasping,
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Semantic-Geometric-Physical-Driven Robot Manipulation Skill Transfer via Skill Library and Tactile Representation
A three-level skill transfer framework combining LLM task planning, A* trajectory replanning, and tactile pose correction moved a drawer-opening-and-stacking skill to a cabinet scene with 8/10 real-robot success.