Author

Yian Wang

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Preprint Oct 2026

Gen2Dex: Learning Dexterous Manipulation from Simulation-Initialized Generated Video Demonstrations

Human video demonstrations provide rich manipulation strategies for dexterous manipulation learning. We study a setting in which a fully specified simulated scene is used to generate videos that specify the demonstrated manipulation behavior. This setup provides access to scene information such as object geometry, arti...

Xiao-Wen Qiu, Yian Wang, Hao-Xiang You et al. · 0 citations

Preprint Sep 2026

DexTaG: Tactile-as-Guidance in Reinforcement Learning for Dexterous Manipulation

Glove-based motion capture is emerging as a scalable approach to collecting dexterous-hand demonstration data. However, due to the kinematic gap between the human and robot hand, the recorded human motions cannot be executed directly on the robot, especially for contact-rich tool-use tasks involving in-hand reorientati...

Han Yang, Yian Wang, Yun-Long Song et al. · 0 citations

Preprint Sep 2026

IM-ENGINE: Image Editing for Embodied Data Generation

IM-ENGINE, a simulator-grounded pipeline that uses image editing as an intermediate representation for embodied data generation and a combination of generative semantic priors and simulator grounding enables scalable task-relevant supervision for robot learning.

Yian Wang, Jun-Yi Cao, Xiao-Wen Qiu et al. · 0 citations