Author

Fei-Xiang Ruan

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Preprint Sep 2026

Dex-X: Learning Visual-Tactile Dexterous Manipulation From Human Videos with Simulated Interaction

Human videos are an abundant source of dexterous manipulation behaviors, but they lack tactile information that is crucial for contact-rich interaction. This raises a fundamental question: can robots learn deployable visual-tactile dexterous manipulation policies from human video demonstrations without robot-side data...

Ruo-Qu Chen, Fei-Xiang Ruan, Liu Cao et al. · 5 citations

Preprint Sep 2026

R2S-Eval: Robot Evaluation with Real-to-Sim Calibration via Vision-Language Models

Experiments in both simulation and real-world settings demonstrate that R2S-Eval produces reliable and stable policy conclusions, achieves agreement with human preferences, substantially reduces repeated hardware-operation effort, and reveals behavior-quality differences that are not captured by binary success labels.

Yi-Di Wang, Fei-Xiang Ruan, Ruo-Qu Chen et al. · 2 citations