From the 2 of 8 linked papers with an AI index.
8 papers
Learning Physics-Guided Residual Dynamics for Deformable Object Simulation
Shivansh Patel, Kaifeng Zhang, Sanjay Pokkali +2
The paper introduces Physics-Guided Residual Dynamics (PGRD), a hybrid framework that augments a spring‑mass physics simulator with a neural network predicting residual corrections…
Generalizable VLA Finetuning via Representation Anchoring and Language-Action Alignment
Dwip Dalal, Shivansh Patel, Chahit Jain +7
The paper introduces Anchor-Align, a method that adds representation anchoring and language-action alignment to behavior‑cloning finetuning of vision‑language models for robot mani…
CRAFT: A Tendon-Driven Hand with Hybrid Hard-Soft Compliance
Leo Lin, Shivansh Patel, Jay Moon +2
We introduce CRAFT hand, a tendon-driven anthropomorphic hand with hybrid hard-soft compliance for contact-rich manipulation. The design is based on a simple idea: contact is not u…
Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrations
Shivansh Patel, Shraddhaa Mohan, Hanlin Mai +3
This work introduces Robots Imitating Generated Videos (RIGVid), a system that enables robots to perform complex manipulation tasks--such as pouring, wiping, and mixing--purely by…
Constructive Distortion: Improving MLLMs with Attention-Guided Image Warping
Dwip Dalal, Gautam Vashishtha, Utkarsh Mishra +6
Multimodal large language models (MLLMs) often miss small details and spatial relations in cluttered scenes, leading to errors in fine-grained perceptual grounding. We introduce At…
ZipLoRA: Any Subject in Any Style by Effectively Merging LoRAs
Viraj Shah, Nataniel Ruiz, Forrester Cole +4
Methods for finetuning generative models for concept-driven personalization generally achieve strong results for subject-driven or style-driven generation. Recently, low-rank adapt…