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cs.RO2026
Behavior Prompting Policy: Demonstrations as Prompts for Manipulation
Austin Patel, Ben Pekarek, Joel Enrique Castro Hernandez +1
We study behavior prompting, a paradigm that enables robots to perform new tasks at inference time given a single human demonstration, which we call a behavior prompt. To enable th…
cs.RO2026
In-the-Wild Compliant Manipulation with UMI-FT
Hojung Choi, Yifan Hou, Chuer Pan +5
Many manipulation tasks require careful force modulation. With insufficient force the task may fail, while excessive force could cause damage. The high cost, bulky size and fragili…
cs.RO2024
GET-Zero: Graph Embodiment Transformer for Zero-shot Embodiment Generalization
Austin Patel, Shuran Song
This paper introduces GET-Zero, a model architecture and training procedure for learning an embodiment-aware control policy that can immediately adapt to new hardware changes witho…