Ka Nam Lui

dblp:412/7032 · DBLP profile ↗
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1ranked-venue papers
0as first author
1since 2021 · last 2026
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 since 2021Graphics, computer vision, multimedia, augmented reality and games · 1 · 1 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Robot manipulation · 100%

Topics — the 3 heaviest of 3, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Robot manipulation › grasping
multifingered grasping
1.012026
DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Grasping · AAAI 2026
Robotics › Robot manipulation
grasping
0.312026
DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Grasping · AAAI 2026
Robotics › Robot manipulation
non-prehensile grasping
0.312026
DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Grasping · AAAI 2026

Methods — techniques the papers use, named apart from their topics

vision-language model · 1.0imitation learning · 1.0diffusion policy · 1.0
YearPublicationVenuePosition
2026 DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Grasping
abstract
Dexterous grasping remains a fundamental yet challenging problem in robotics. A general-purpose robot must be capable of grasping diverse objects in arbitrary scenarios. However, existing research typically relies on restrictive assumptions, such as single-object settings or limited environments, showing constrained generalization. We present DexGraspVLA, a hierarchical framework for robust generalization in language-guided general dexterous grasping and beyond. It utilizes a pre-trained Vision-Language model as the high-level planner and learns a diffusion-based low-level Action controller. The key insight to achieve generalization lies in iteratively transforming diverse language and visual inputs into domain-invariant representations via foundation models, where imitation learning can be effectively applied due to the alleviation of domain shift. Notably, our method achieves a 90+% dexterous grasping success rate under thousands of challenging unseen cluttered scenes. Empirical analysis confirms the consistency of internal model behavior across environmental variations, validating our design. DexGraspVLA also, for the first time, simultaneously demonstrates free-form long-horizon prompt execution, robustness to adversarial objects and human disturbance, and failure recovery. Extended application to nonprehensile grasping further proves its generality.
Yifan Zhong, Xuchuan Huang, Ruochong Li, Ceyao Zhang, Tianrui Guan, Fanlian Zeng, Ka Nam Lui, Yuyao Ye, Yitao Liang, Yaodong Yang 0001, Yuanpei Chen
AAAI8