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Handroid is introduced, a desktop-scale dual-embodiment robot that integrates both capabilities within a single reconfigurable platform and provides a unified control and learning framework supporting hand teleoperation, dexterous grasping, in-hand manipulation, humanoid locomotion, gait generation, and interactive mot...
This work introduces Wiggle and Go!, a two-stage framework for zero-shot rope manipulation: a brief, safe wiggle action is observed to predict descriptive rope parameters, which then conditions a trajectory optimizer for zero-shot goal-conditioned execution.
Results reveal substantial challenges in task generalization and visuomotor robustness, establishing DexVerse as a promising testbed for general-purpose dexterous manipulation.
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