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cs.RO2026
KeyGen: Unsupervised Keypoint based Object-Centric Representations for Category-Level Policy Generalization
Shuxin Cao, Liquan Wang, Masoud Moghani +2
Generalization in robotic manipulation requires policies to perform tasks across diverse unseen object instances that vary in shape, size, and pose. However, conventional behavior…
cs.RO2026
FORGE: Towards Functional Tool-Use Generalization via Keypoint Trajectory Reasoning
Chuhao Zhou, Liquan Wang, Shuxin Cao +5
While humans readily repurpose a book, a stone, or a shoe to drive a nail, robots trained on specific tools fail to transfer the same function to novel ones -- a gap we formalize a…
cs.RO2026
Hierarchical Policy Learning via Spectral Decomposition
Shuxin Cao, Liquan Wang, Walker Byrnes +3
In this paper, we identify a semantic decomposition in robot action sequences, separating task-level motion intent from execution-level refinements. By analyzing actions in the spe…