Author

Mingrui Yu

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Jul 2026

HUGS: Guiding Unified Dexterous Grasp Synthesis Across Modes and Scales via Learned Human Priors

HUGS (Human-prior-guided Unified Dexterous Grasp Synthesis), a human-prior-guided framework for unified dexterous grasp synthesis across modes and scales, and adaptively proposes contact modes and wrist initializations, substantially improving the balance between contact-mode coverage and synthesis success rate over heuristic-based methods.

Mingrui Yu, Yongpeng Jiang, Yongyi Jia et al. · arXiv.org · 0 citations

Preprint Jul 2026

CoorGrasp: Coordinated Contact Control for Adaptive Dexterous Grasping Under Uncertainty

A tactile-driven model predictive controller for adaptive and delicate execution of diverse dexterous grasps that imposes no restrictions on grasp types or contact configurations and integrates seamlessly with state-of-the-art grasp pose generation methods.

Mingrui Yu, Yongpeng Jiang, Yongyi Jia et al. · 0 citations

Jul 2026

Towards Human-level Dexterous Teleoperation

TeleDexter is introduced, a hand-object co-tracking controller that maps operator intent into learned, low-level contact execution that successfully train autonomous policies via behavioral cloning, marking a concrete step towards human-level dexterous teleoperation.

Puhao Li, Zeyuan Chen, Yingying Wu et al. · arXiv.org · 0 citations