4 papers
Peg-in-Bench: A Modular Benchmark for High-Precision Robotic Insertion
Yosel Delgado, José G. Buenaventura-Carreón, Floris Erich +4
High-precision insertion remains a fundamental challenge in robotic manipulation due to the strict alignment requirements and contact-rich interactions involved. Although peg-in-ho…
The Embodiment Gap in Robot Foundation Models
Yukiyasu Domae, Keisuke Shirai, Hanbit Oh +7
Robot foundation models (RFMs), including vision-language-action (VLA) policies, are often discussed through a scaling view: more data, larger models, and broader benchmarks should…
YUBI: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scale
Takehiko Ohkawa, Jumpei Arima, Yuki Noguchi +16
We introduce Yielding Universal Bidigital Interface (YUBI), a finger-aligned gripper designed to enable intuitive, ergonomic, and scalable data collection for bimanual dexterous ma…
Formula-Supervised Visual-Geometric Pre-training
Ryosuke Yamada, Kensho Hara, Hirokatsu Kataoka +4
Throughout the history of computer vision, while research has explored the integration of images (visual) and point clouds (geometric), many advancements in image and 3D object rec…