3 papers
cs.RO2026
Learning Geometrically-Grounded 3D Visual Representations for View-Generalizable Robotic Manipulation
Di Zhang, Weicheng Duan, Dasen Gu +5
Real-world robotic manipulation demands visuomotor policies capable of robust spatial scene understanding and strong generalization across diverse camera viewpoints. While recent a…
cs.LG2025
ASTRO: Adaptive Stitching via Dynamics-Guided Trajectory Rollouts
Hang Yu, Di Zhang, Qiwei Du +5
Offline reinforcement learning (RL) enables agents to learn optimal policies from pre-collected datasets. However, datasets containing suboptimal and fragmented trajectories presen…
cs.RO2025
KineDex: Learning Tactile-Informed Visuomotor Policies via Kinesthetic Teaching for Dexterous Manipulation
Di Zhang, Chengbo Yuan, Chuan Wen +3
Collecting demonstrations enriched with fine-grained tactile information is critical for dexterous manipulation, particularly in contact-rich tasks that require precise force contr…