Author

Hyesung Lee

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Preprint Sep 2026

UniDex-ViTac: Learning Unified Visuo-Tactile Dexterous Manipulation Policy from Human Video Data

Human videos provide demonstrations of dexterous manipulation but lack robot-executable actions and tactile measurements. We present UniDex-ViTac, a framework that uses human-video-guided simulation to generate robot demonstrations paired with fingertip contact observations for training a deployable visuo-tactile polic...

Hyesung Lee, Si-Hwan Heo, Sungwook Yang · 0 citations

Preprint Aug 2026

RORA: Realistic Object Reconstruction with Articulation

This work proposes the first end-to-end pipeline that reconstructs simulation-ready assets with accurate articulation from a single static object video input through suggestion based human-in-the-loop process, and achieves precise articulation results on partnet-mobility-v0 dataset and real objects.

Hyesung Lee, Young-Seon Lee, Kyutae Lee et al. · 1 citation