5 citations · 7 across the 8 of their papers we have counts for
5 papers · 1 filter
Learning Physics-Guided Residual Dynamics for Deformable Object Simulation
Shivansh Patel, Kaifeng Zhang, Sanjay Pokkali +2
Simulating deformable objects is essential for a wide range of robotic manipulation applications, yet accurately predicting their dynamics remains challenging. We propose Physics-G…
Generalizable VLA Finetuning via Representation Anchoring and Language-Action Alignment
Dwip Dalal, Shivansh Patel, Chahit Jain +8
Finetuning a pretrained vision-language model (VLM) on robot demonstrations via behavior cloning (BC) has become the standard recipe for vision-language-action (VLA) policies. Howe…
CRAFT: A Tendon-Driven Hand with Hybrid Hard-Soft Compliance
Leo Lin, Shivansh Patel, Jay Moon +2
We introduce CRAFT hand, a tendon-driven anthropomorphic hand with hybrid hard-soft compliance for contact-rich manipulation. The design is based on a simple idea: contact is not u…
Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrations
Shivansh Patel, Shraddhaa Mohan, Hanlin Mai +3
This work introduces Robots Imitating Generated Videos (RIGVid), a system that enables robots to perform complex manipulation tasks--such as pouring, wiping, and mixing--purely by…
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards
Shivansh Patel, Xinchen Yin, Wenlong Huang +5
Task specification for robotic manipulation in open-world environments is challenging, requiring flexible and adaptive objectives that align with human intentions and can evolve th…