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cs.CV2026
ClothAtlas: Joint Garment Identification and State Estimation under Self-Occlusion
Jens Lundell, Alberta Longhini, Lei Shu +6
Garment manipulation requires inferring both garment identity and complete configuration from partial, self-occluded observations. This creates a chicken-and-egg problem: completin…
cs.RO2026
MoDex: A Diffusion Policy for Sequential Multi-Object Dexterous Grasping
Haofei Lu, Hongjia Liu, Yifei Dong +3
This work addresses sequentially grasping multiple objects with a single dexterous hand without releasing those already held. Most dexterous grasping methods commit all of the hand…
cs.RO2026
Reduced-order Control and Geometric Structure of Learned Lagrangian Latent Dynamics
Katharina Friedl, Noémie Jaquier, Seungyeon Kim +2
Model-based controllers can offer strong guarantees on stability and convergence by relying on physically accurate dynamic models. However, these are rarely available for high-dime…