3 papers
cs.RO2025
Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets
Chuning Zhu, Raymond Yu, Siyuan Feng +3
Imitation learning has emerged as a promising approach towards building generalist robots. However, scaling imitation learning for large robot foundation models remains challenging…
cs.RO2025
PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies
Jialiang Zhao, Naveen Kuppuswamy, Siyuan Feng +2
Achieving robust dexterous manipulation in unstructured domestic environments remains a significant challenge in robotics. Even with state-of-the-art robot learning methods, haptic…
cs.RO2025
Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control
Yifan Hou, Zeyi Liu, Cheng Chi +5
Compliance plays a crucial role in manipulation, as it balances between the concurrent control of position and force under uncertainties. Yet compliance is often overlooked by toda…