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cs.RO2026
Patch Policy: Efficient Embodied Control via Dense Visual Representations
Gaoyue Zhou, Zichen Jeff Cui, Ada Langford +3
Pretrained dense visual features from Vision Transformers (ViTs) are powerful yet have been underutilized in robot learning. Modern robot policies either compress each observation…
cs.RO2026
Contact-Anchored Policies: Contact Conditioning Creates Strong Robot Utility Models
Zichen Jeff Cui, Omar Rayyan, Haritheja Etukuru +16
The prevalent paradigm in robot learning attempts to generalize across environments, embodiments, and tasks with language prompts at runtime. A fundamental tension limits this appr…