3 papers
cs.RO2026
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…
cs.RO2026
LEGS: Fine-Tuning Teleop-Free VLAs for Humanoid Loco-manipulation in an Embodied Gaussian Splatting World
Hojune Kim, Timothy Chen, Jiankai Sun +4
Training vision-language-action (VLA) policies for humanoid loco-manipulation is constrained by the high cost and complexity of collecting human teleoperation demonstrations. VLA p…
physics.optics2024
3D-architected gratings for polarization-sensitive, nature-inspired structural color
Moisés H. Ibarra Miranda, Lars W. Osterberg, Dev H. Shah +2
Structural coloration, a color-generation mechanism often found in nature, arises from light-matter interactions such as diffraction, interference and scattering, with micro- and n…