Author

Fei-Fei Li

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Preprint Oct 2026

Cross-Embodiment Robot Foundation World Models with Latent Actions

The diversity of robot embodiments and action spaces makes it challenging to build robot world models that generalize across different embodiments. We introduce the Latent Action-Conditioned Robot World Model (LAC-WM), which operates within a learned unified latent action space shared across diverse embodiments. This u...

Huang Huang, Sriram Yenamandra, Arjun Majumdar et al. · 0 citations

Preprint Sep 2026

DexAgent: An Agentic Human2Sim2Robot Framework for Dexterous Manipulation with Self-Evolving Tool Library

Human videos offer a scalable source of demonstrations for dexterous robot manipulation. However, existing human-to-simulation-to-robot (Human2Sim2Robot) pipelines rely on predefined procedures that struggle to accommodate diverse object properties and interactions, particularly those involving articulated and deformab...

You-Hui Wang, Yun-Zhu Li, Fei-Fei Li et al. · 1 citation

Preprint Sep 2026

One Demonstration, Many Objects: Generalizing Manipulation via Local Contact Geometry

DemoMimic (Dexterous Motion Mimic), a policy that manipulates objects by focusing on their geometry local to the contact points to improve sim-to-real consistency, yielding a single real-world policy that transfers across objects of varying shape, scale, mass, and friction wherever local contact structure is preserved.

Satvik Sharma, Samrat Sahoo, Huang Huang et al. · 4 citations · ⚡1