3 papers
cs.RO2026
Cloak: Zero-Shot Cross-Embodiment Manipulation by Masking the End-Effector from the VLA
Michael Piseno, Guy Tevet, C. Karen Liu
We present Cloak, a training recipe that endows a Vision-Language-Action (VLA) model with zero-shot cross-embodiment transfer by cloaking the end-effector from its own wrist camera…
cs.RO2025
GentleHumanoid: Learning Upper-body Compliance for Contact-rich Human and Object Interaction
Qingzhou Lu, Yao Feng, Baiyu Shi +3
Humanoid robots are expected to operate in human-centered environments where safe and natural physical interaction is essential. However, most recent reinforcement learning (RL) po…
cs.GR2024
PDP: Physics-Based Character Animation via Diffusion Policy
Takara E. Truong, Michael Piseno, Zhaoming Xie +1
Generating diverse and realistic human motion that can physically interact with an environment remains a challenging research area in character animation. Meanwhile, diffusion-base…