3 papers
cs.RO2026
OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation
Arnav Balaji, Arpit Bahety, Sriniket Ambatipudi +3
While robotic manipulation capabilities have advanced rapidly, physical safety remains a major barrier to deploying household robots: task success is insufficient if the robot dama…
cs.RO2026
MoMaGen: Generating Demonstrations under Soft and Hard Constraints for Multi-Step Bimanual Mobile Manipulation
Chengshu Li, Mengdi Xu, Arpit Bahety +11
Imitation learning from large-scale, diverse human demonstrations has been shown to be effective for training robots, but collecting such data is costly and time-consuming. This ch…
cs.RO2025
SafeMimic: Towards Safe and Autonomous Human-to-Robot Imitation for Mobile Manipulation
Arpit Bahety, Arnav Balaji, Ben Abbatematteo +1
For robots to become efficient helpers in the home, they must learn to perform new mobile manipulation tasks simply by watching humans perform them. Learning from a single video de…