Supernumerary robotic fingers augment human dexterity by enabling a single hand to perform complex "hold-and-manipulate" tasks that typically require bimanual coordination. However, existing devices are often hindered by bulky hardware that limits interaction to large objects and rely on explicit hand motion triggers that lack environmental context. To address these challenges, we present EgoThumb, a fully open-source, vision-driven supernumerary robotic thumb. EgoThumb features a compact, dual tendon-driven finger whose actuation is relocated to the forearm, reducing distal weight while enabling precise active joint control. The system utilizes a visual imitation learning policy that maps egocentric images from a palm-facing camera directly to continuous joint positions. By implicitly decoding human intent from visual cues capturing both the hand and the object of interest, EgoThumb achieves robust autonomous manipulation and strong generalization across diverse users and environments. All hardware designs and software implementations are fully open-sourced at https://ego-thumb.github.io.
Minghui Jia, Qichao Zhang, Ali Luo NAOC,CAS, Linjing Li Institute of automation, Chinese academy of science, Chinese Academy of Sciences, Shuo Ye, Hailing Lu, Wen Hou NAOC, Dongbin Zhao Institute of automation, Chinese academy of science, Chinese Academy of Sciences
Due to the limited generalization and interpretability of deep learning classifiers, the final vetting of rare celestial object candidates still relies on manually intensive expert visual inspection, which has become a primary bottleneck as modern spectroscopic surveys continue to scale.To bridge this gap, we propose Spec-o3, a tool-augmented vision-language agent that performs astronomer-aligned spectral inspection via interleaved multimodal chain-of-thought reasoning.Spec-o3 is trained with a two-stage post-training recipe: cold-start supervised fine-tuning on expert inspection trajectories followed by outcome-based reinforcement learning on rare-type verification tasks.Evaluated on five rare-object identification tasks from LAMOST, Spec-o3 establishes a new State-of-the-Art, boosting the macro-F1 score from 28.3 to 76.5 with a 7B parameter base model and outperforming both proprietary VLMs and specialized deep models. Beyond accuracy, Spec-o3 processes spectra at \sim0.2 s per sample on an 8\timesH100 server, a \sim50\times throughput gain over expert manual inspection. The agent also demonstrates strong generalization to unseen inspection tasks across survey shifts (from LAMOST to SDSS/DESI). Expert evaluations further confirm that its reasoning traces are coherent and physically consistent, supporting transparent and trustworthy decision-making.Code, data, and models are available at Project HomePage.
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cs.CL · cs.CV
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表