3 papers
cs.RO2026
Pose-Agnostic Robotic Functional Grasping via Observation-Action Canonicalization
Le Qiu, Cole Harrison, Jiankai Sun +5
Functional robotic grasping requires a policy that generalizes across diverse object geometries and poses while maintaining task-specific contact precision. We study this challenge…
cs.RO2026
SARM2: Multi-Task Stage Aware Reward Modeling for Self Improving Robotic Manipulation
Qianzhong Chen, Hau Zheng, Justin Yu +8
Fine-tuning vision-language-action (VLA) policies for long-horizon manipulation still relies heavily on behavior cloning, which requires costly high-quality demonstrations and keep…
cs.RO2025
Dojo: A Differentiable Physics Engine for Robotics
Taylor A. Howell, Simon Le Cleac'h, Jan Brüdigam +5
We present Dojo, a differentiable physics engine for robotics that prioritizes stable simulation, accurate contact physics, and differentiability with respect to states, actions, a…