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cs.RO2026
Retriever: Composing the Perception-Reasoning-Action Loop for Long-Horizon Manipulation
Linfeng Zhao, Haojie Huang, Jiayuan Mao +3
Building long-horizon robot agents requires composing closed-loop pipelines -- perception, belief update, planning, and control -- whose components run at different clocks and with…
cs.RO2026
Pix2Act: Image-Space Manipulation Policies with Equivariant Augmentation
Haojie Huang, Linfeng Zhao, Haotian Liu +9
Representing manipulation actions as 2D trajectories in the camera plane provides a compact and interpretable basis for learning complex 3D manipulation policies. However, it also…
cs.RO2026
Action Map Policy: Learning 3D Closed-loop Manipulation via Pixel Classification
Haojie Huang, Zhang Ye, Linfeng Zhao +7
The action space poses a major challenge in robot learning, since it is often high-dimensional, can span long time horizons, and frequently admits multi-modal optimal solutions. A…