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Jisoo Kim @jisooslog

PhD Student in Visual Computing Lab in Seoul National University | 3D Computer Vision, Human-Object Interaction

Joined June 2022
  • Posts 7
  • Following 93
  • Followers 83
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Jisoo Kim @jisooslog
Jun 25
Introducing ZeroDex: Zero-Shot Long-Horizon Dexterous Manipulation via Multi-View 3D-Grounded VLM Reasoning VLMs know what to do. ZeroDex grounds that reasoning in multi-view 3D, enabling robots to perform dexterous actions. No task-specific demos. No policy fine-tuning.
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Introducing HRDexDB โ€” the first dataset of paired humanโ€“robot dexterous grasping sequences over the same objects. Diverse hand embodiments, 100 objects, and accurate 3D annotations. ๐ŸŒ Project: snuvclab.github.io/HRDexDB/ ๐Ÿค— Dataset: huggingface.co/datasets/HRDeโ€ฆ
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Introducing ZeroDex: Zero-Shot Long-Horizon Dexterous Manipulation via Multi-View 3D-Grounded VLM Reasoning VLMs know what to do. ZeroDex grounds that reasoning in multi-view 3D, enabling robots to perform dexterous actions. No task-specific demos. No policy fine-tuning.
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For long-horizon tasks, ZeroDex closes the loop with task verification and retry. We demonstrate zero-shot dexterous manipulation across unseen objects, tool-use tasks, and long-horizon real-robot scenarios. ๐ŸŒ Project: jlogkim.github.io/zerodex/ ๐Ÿ“„ Paper: arxiv.org/abs/2606.19340

ZeroDex: Zero-Shot Long-Horizon Dexterous Manipulation via Multi-View 3D-Grounded VLM Reasoning

A zero-shot framework that uses calibrated multi-view RGB and VLM-guided 3D keypoints to execute long-horizon dexterous manipulation and tool-use tasks.

jlogkim.github.io
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#robotics #DexterousManipulation #VLM #3DGrounding #ZeroshotManipulation
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Jisoo Kim reposted
Byungjun Kim
 @byungjun__kim
22 Dec 2025
We introduce ๐Ÿ–๏ธ๐ŸŒ ๐ƒ๐ž๐ฑ๐ญ๐ž๐ซ๐จ๐ฎ๐ฌ ๐–๐จ๐ซ๐ฅ๐ ๐Œ๐จ๐๐ž๐ฅ๐ฌ (๐ƒ๐–๐Œ) โ€” a scene-action-conditioned video diffusion model that simulates human manipulation in static 3D scenes from egocentric hand motions. ๐Ÿ“„ Paper: arxiv.org/abs/2512.17907 ๐ŸŒ Project Page: snuvclab.github.io/dwm/
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Jisoo Kim @jisooslog
10 Sep 2024
The full version of the ParaHome dataset is now available! ๐ŸŽ‰ Check out our webpage: github.com/snuvclab/ParaHome - 486 min, 207 sequences, 38 subjects - 3D parameterized 22 objects - Text annot. for every action - Full 3D mocap for body and hand movements - Sequential HOI scenarios
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