Author

Wenlong Dong

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Preprint Sep 2026

Function beyond Form: Functional Correspondence for Cross-Embodiment Dexterous Grasp Generation

Cross-embodiment dexterous grasp generation remains challenging because robotic hands differ substantially in geometry, topology, and kinematics. Existing approaches often lack explicit correspondences between structurally different hand regions that play similar functional roles in a grasp, a concept we refer to as fu...

Bo Zou, Wen-Long Dong, Mu Ai et al. · 0 citations

Preprint Aug 2026

VISTA: Visually Inferred Spatial ConTact Attention for Contact-Rich Manipulation

Contact-rich manipulation requires precise interaction feedback. While vision-centric imitation learning is prevalent, external visual observations provide indirect and ambiguous cues about contact states, particularly under occlusion or subtle object--gripper interactions; dedicated tactile or force sensors can provid...

Jiaying Chen, Wen-Long Dong, Yan Huang et al. · 0 citations

Jul 2026

Dual-Process Atomic Skill Learning: Decoupling Semantic Reasoning and Real-Time Control

This work proposes Dual-Process Atomic Skill Learning (DASL), a novel asynchronous hierarchical imitation learning framework that decouples slow semantic reasoning from fast, real-time motion control and mitigates the skill codebook interference problem common in joint training paradigms.

Jun Chen, Erdent Bao, Wenlong Dong et al. · arXiv.org · 0 citations