9 papers
FAR: Failure-Aware Retry for Test-Time Recovery and Continual Policy Improvement
Haoran Hao, Shahram Najam Syed, Jeffrey Ichnowski +1
Robot policies inevitably encounter failures when deployed in real environments. Naive retries often repeat the same mistakes, while many existing recovery methods rely on human in…
Modality Forcing for Scalable Spatial Generation
Bardienus Pieter Duisterhof, Deva Ramanan, Jeffrey Ichnowski +2
Text-to-image (T2I) models contain rich spatial priors. Synthesizing photorealistic, cluttered scenes requires an understanding of geometry, including perspective and relative scal…
3PoinTr: 3D Point Tracks for Learning Manipulation from Unconstrained Human Videos
Adam Hung, Bardienus Pieter Duisterhof, Jeffrey Ichnowski
Learning manipulation policies from human videos could greatly reduce the need for expensive robot demonstrations, but existing approaches typically require restrictive assumptions…
Intercepting the Future: Latent-Space Predictive World Model for Dynamic VLA Manipulation
Shahram Najam Syed, Arthur Jakobsson, Haoran Hao +1
Vision-Language-Action (VLA) models generalize across static manipulation but fail when objects move during task execution. They map the current observation to an action and assume…
Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation
Arthur Jakobsson, Abhinav Mahajan, Karthik Pullalarevu +6
Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. To mitigate this, we present a novel approach that…
Functional Force-Aware Retargeting from Virtual Human Demos to Soft Robot Policies
Uksang Yoo, Mengjia Zhu, Evan Pezent +8
We introduce SoftAct, a framework for teaching soft robot hands to perform human-like manipulation skills by explicitly reasoning about contact forces. Leveraging immersive virtual…