7 papers
CoStream: Composing Simple Behaviors for Generalizable Complex Manipulation
Haonan Chen, Yuxiang Ma, Stephen Tian +7
Long-horizon, contact-rich complex manipulation tasks, such as seating a GPU into a PCIe slot, demand both millimeter high precision and out-of-the-box generalization to new tasks.…
InSight: Self-Guided Skill Acquisition via Steerable VLAs
Maggie Wang, Lars Osterberg, Stephen Tian +3
Vision-language-action (VLA) models can learn manipulation skills from demonstrations, but their capabilities are bounded by the skills in the training data. We present InSight, a…
Phys2Real: Fusing VLM Priors with Interactive Online Adaptation for Uncertainty-Aware Sim-to-Real Manipulation
Maggie Wang, Stephen Tian, Aiden Swann +3
Learning robotic manipulation policies directly in the real world can be expensive and time-consuming. While reinforcement learning (RL) policies trained in simulation present a sc…
DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation
Suzannah Wistreich, Baiyu Shi, Stephen Tian +5
Human skin provides a rich tactile sensing stream, localizing intentional and unintentional contact events over a large and contoured region. Replicating these tactile sensing capa…
View-Invariant Policy Learning via Zero-Shot Novel View Synthesis
Stephen Tian, Blake Wulfe, Kyle Sargent +4
Large-scale visuomotor policy learning is a promising approach toward developing generalizable manipulation systems. Yet, policies that can be deployed on diverse embodiments, envi…
Digital Twin Catalog: A Large-Scale Photorealistic 3D Object Digital Twin Dataset
Zhao Dong, Ka Chen, Zhaoyang Lv +14
We introduce the Digital Twin Catalog (DTC), a new large-scale photorealistic 3D object digital twin dataset. A digital twin of a 3D object is a highly detailed, virtually indistin…