3 papers
cs.RO2026
Pre-training Visual Dexterity in Simulation
Sarthak Kamat, Adam Rashid, Satvik Sharma +4
Large-scale pre-training has made robot policy fine-tuning increasingly data-efficient, but this progress has largely been driven by datasets and embodiments built around simple pa…
cs.RO2026
Scalable Behavior Cloning with Open Data, Training, and Evaluation
Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh +15
We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500…
cs.RO2026
Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation
Yajvan Ravan, Adam Rashid, Alan Yu +8
We introduce Lucid-XR, a generative data engine for creating diverse and realistic-looking multi-modal data to train real-world robotic systems. At the core of Lucid-XR is vuer, a…