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cs.RO2026
MatchingPolicy: Correspondence-Aware Policy Enables Cross-Object In-Context Learning
Qijin She, Hanyang Yu, Zeming Li +1
In-context imitation learning enables few-shot policy generalization but struggles to maintain performance on unseen objects and novel scenarios. To address this, we introduce Matc…
cs.RO2026
Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization
Wun Lam Yeung, Wenjun Liu, Yui Cheung Yu +5
Bimanual object reorientation - picking an object, handing it over between two arms, and placing it in a desired target pose - is valuable when direct placement from the initial gr…