8 papers
Robustness of Robotic Manipulation: Foundations and Frontiers
Yifei Dong, Zhanyi Sun, Lujie Yang +5
Humans and animals exhibit remarkable robustness in physical manipulation, yet robots remain far behind. Progress toward human-level manipulation robustness is hindered by the abse…
PhysGraph: A Physics-aware 3D Scene Graph for Perception and Reasoning
Haoyu Li, Aaron Thomas, Shuyan Zhou +1
To perform a wide range of daily tasks, robots need to construct a 3D representation that is semantically rich, physically grounded, and structured enough to support task planning…
Any-ttach: Quick End-effector Swapping Enables Manipulation Dexterity with Simplicity
Weizhe Ni, Jinzhou Li, Haoyu Li +3
Robotic manipulation dexterity is often pursued by building increasingly complex high-DoF multifingered hands. While many robotic hands are designed to replicate human morphology,…
CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation
Xinyuan Luo, Xingrui Chen, Xunjian Yin +6
Humanoid robots have achieved impressive locomotion performance, yet contact-rich and long-horizon manipulation remains a major bottleneck. Manipulation is inherently contact-rich…
On Safety Risks in Experience-Driven Self-Evolving Agents
Weixiang Zhao, Yichen Zhang, Yingshuo Wang +8
Experience-driven self-evolution has emerged as a promising paradigm for improving the autonomy of large language model agents, yet its reliance on self-curated experience introduc…
OPENTOUCH: Bringing Full-Hand Touch to Real-World Interaction
Yuxin Ray Song, Jinzhou Li, Rao Fu +12
The human hand is our primary interface to the physical world, yet egocentric perception rarely knows when, where, or how forcefully it makes contact. Robust wearable tactile senso…