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cs.RO2026
Topology-Informed Visual Prompting For Vision Language Action Policies
Haoyang Wu, Abhinav Kumar, Dmitry Berenson
Vision-language-action (VLA) policies can struggle with manipulation tasks with complex obstacle geometries due to partial observability. These complex geometries can lead to simil…
cs.RO2026
PLUME: Probabilistic Latent Unified World Modeling and Parameter Estimation for Multi-Finger Manipulation
Abhinav Kumar, Soshi Iba, Rana Soltani Zarrin +1
Dexterous manipulation with multi-finger hands can be sensitive to physical parameters such as object shape, pose, and friction coefficients. While simulation enables large-scale d…