Cover Image

Towards Dexterous Embodied Manipulation via Deep Multi-Sensory Fusion and Sparse Expert Scaling

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Sun, Yirui, Zhuge, Guangyu, Liu, Keliang, Gu, Jie, xia, Zhihao, Ren, Qionglin, tian, Chunxu, Ga, Zhongxue
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

SANTS: A State-Adaptive Scheduler for World Action Models
by: Sun, Yirui, et al.
Published: (2026)

RhoMorph: Rhombus-shaped Deformable Modular Robots for Stable, Medium-Independent Reconfiguration Motion
by: Gu, Jie, et al.
Published: (2026)

A Novel Reconfigurable Dexterous Hand Based on Triple-Symmetric Bricard Parallel Mechanism
by: Tian, Chunxu, et al.
Published: (2026)

Scaffolding Dexterous Manipulation with Vision-Language Models
by: de Bakker, Vincent, et al.
Published: (2025)

The Developments and Challenges towards Dexterous and Embodied Robotic Manipulation: A Survey
by: Li, Gaofeng, et al.
Published: (2025)

HERMES: Human-to-Robot Embodied Learning from Multi-Source Motion Data for Mobile Dexterous Manipulation
by: Yuan, Zhecheng, et al.
Published: (2025)

SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation
by: Kedia, Kushal, et al.
Published: (2026)

Towards Human-Like Manipulation through RL-Augmented Teleoperation and Mixture-of-Dexterous-Experts VLA
by: Tang, Tutian, et al.
Published: (2026)

DexFormer: Cross-Embodied Dexterous Manipulation via History-Conditioned Transformer
by: Zhang, Ke, et al.
Published: (2026)

Scaling Cross-Embodiment World Models for Dexterous Manipulation
by: He, Zihao, et al.
Published: (2025)

Adaptive Visuo-Tactile Fusion with Predictive Force Attention for Dexterous Manipulation
by: Li, Jinzhou, et al.
Published: (2025)

EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data
by: Zheng, Ruijie, et al.
Published: (2026)

Self-Reconfiguration Planning for Deformable Quadrilateral Modular Robots
by: Gu, Jie, et al.
Published: (2026)

SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulation
by: Wang, Qianxu, et al.
Published: (2023)

MODUR: A Modular Dual-reconfigurable Robot
by: Gu, Jie, et al.
Published: (2025)

TypeTele: Releasing Dexterity in Teleoperation by Dexterous Manipulation Types
by: Lin, Yuhao, et al.
Published: (2025)

Planning for Dexterous Ungrasping: Secure Ungrasping through Dexterous Manipulation
by: Kim, Chung Hee, et al.
Published: (2021)

Dexterous Non-Prehensile Manipulation for Ungraspable Object via Extrinsic Dexterity
by: Wang, Yuhan, et al.
Published: (2025)

DexDiff: Towards Extrinsic Dexterity Manipulation of Ungraspable Objects in Unrestricted Environments
by: Ma, Chengzhong, et al.
Published: (2024)

Dexterous Manipulation Based on Prior Dexterous Grasp Pose Knowledge
by: Yan, Hengxu, et al.
Published: (2024)

MoE-ACT: Scaling Multi-Task Bimanual Manipulation with Sparse Language-Conditioned Mixture-of-Experts Transformers
by: Guo, Kangjun, et al.
Published: (2026)

LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators
by: Lin, Changyi, et al.
Published: (2024)

Embodied Long Horizon Manipulation with Closed-loop Code Generation and Incremental Few-shot Adaptation
by: Meng, Yuan, et al.
Published: (2025)

LensDFF: Language-enhanced Sparse Feature Distillation for Efficient Few-Shot Dexterous Manipulation
by: Feng, Qian, et al.
Published: (2025)

Learning Dexterous Manipulation with Quantized Hand State
by: Feng, Ying, et al.
Published: (2025)

GES-UniGrasp: A Two-Stage Dexterous Grasping Strategy With Geometry-Based Expert Selection
by: Xu, Fangting, et al.
Published: (2025)

Zero-Shot Sim-to-Real Robot Learning: A Dexterous Manipulation Study on Reactive Catching
by: Ren, Kejia, et al.
Published: (2026)

ShapeGen: Robotic Data Generation for Category-Level Manipulation
by: Wang, Yirui, et al.
Published: (2026)

\textsc{Gen2Real}: Towards Demo-Free Dexterous Manipulation by Harnessing Generated Video
by: Ye, Kai, et al.
Published: (2025)

Key-Gram: Extensible World Knowledge for Embodied Manipulation
by: Fan, Jingjing, et al.
Published: (2026)

DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation
by: Xu, Mengda, et al.
Published: (2025)

Learning Dexterous Manipulation Skills from Imperfect Simulations
by: Hsieh, Elvis, et al.
Published: (2025)

HumDex: Humanoid Dexterous Manipulation Made Easy
by: Heng, Liang, et al.
Published: (2026)

Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy
by: Wu, Tianhao, et al.
Published: (2024)

Spatially anchored Tactile Awareness for Robust Dexterous Manipulation
by: Huang, Jialei, et al.
Published: (2025)

Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulation
by: Feng, Ruoxuan, et al.
Published: (2024)

U-DiT Policy: U-shaped Diffusion Transformers for Robotic Manipulation
by: Wu, Linzhi, et al.
Published: (2025)

Dexterous Cable Manipulation: Taxonomy, Multi-Fingered Hand Design, and Long-Horizon Manipulation
by: Zhaole, Sun, et al.
Published: (2025)

Learning Diffusion Policy from Primitive Skills for Robot Manipulation
by: Gu, Zhihao, et al.
Published: (2026)

Grasp What You Want: Embodied Dexterous Grasping System Driven by Your Voice
by: Li, Junliang, et al.
Published: (2024)