2 papers
cs.RO2026
ContactGuard: Pre-Contact Execution Monitoring with Action-Conditioned Latent World Models
Gehan Zheng, Matthew Johnson-Roberson, Weiming Zhi
Contact-rich manipulation failures are often detected only after the robot has committed to contact. This is especially limiting in wrist-camera setups: close gripper--object views…
cs.RO2026
NestDex: Nested Policy Learning with Copilot Assisted Teleoperation for Dexterous Manipulation
James Zhao, Jinhe Tang, Mingyuan Ba +1
Dexterous manipulation promises substantially richer robot interaction with the physical world, but learning these behaviours remains constrained by the difficulty of collecting co…