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cs.RO2026
ComFree-Sim: A GPU-Parallelized Analytical Contact Physics Engine for Scalable Contact-Rich Robotics Simulation and Control
Chetan Borse, Zhixian Xie, Wei-Cheng Huang +1
Physics simulation for contact-rich robotics is often bottlenecked by contact resolution: mainstream engines enforce non-penetration and Coulomb friction via complementarity constr…
cs.RO2026
RoDiF: Robust Direct Fine-Tuning of Diffusion Policies with Corrupted Human Feedback
Amitesh Vatsa, Zhixian Xie, Wanxin Jin
Diffusion policies are a powerful paradigm for robotic control, but fine-tuning them with human preferences is fundamentally challenged by the multi-step structure of the denoising…