Author

Yuanpei Chen

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Preprint Aug 2026

AdaDexGrasp: Adaptive Dexterous Grasping via 3D Visuo-Tactile Representation Fusion

This work proposes a unified visuo-tactile-fusion grasping framework that integrates grasp generation, feasibility prediction, and adaptive refinement and introduces an efficient visuo-tactile representation that tightly fuses object geometry with tactile feedback by associating tactile signals with finger identities.

Xirui Liang, Jiaqi Liang, Jing-Kai Xu et al. · 0 citations

Preprint Jul 2026

LAMP: Latent Motion Prior-Guided Real-World Learning for Dexterous Hand Manipulation

A latent motion prior module (\prior{}) is introduced that maps recent hand-action histories to a compact, history-conditioned latent prior and decodes continuous latent commands into executable high-dimensional hand targets and improves the policy with online residual RL in the same latent hand-action space.

Xinye Yang, Zhiyuan Ma, Hongze Yu et al. · 0 citations