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cs.RO2026
AffordGen: Generating Diverse Demonstrations for Generalizable Object Manipulation with Afford Correspondence
Jiawei Zhang, Kaizhe Hu, Yingqian Huang +3
Despite the recent success of modern imitation learning methods in robot manipulation, their performance is often constrained by geometric variations due to limited data diversity.…
cs.RO2026
OmniClone: Engineering a Robust, All-Rounder Whole-Body Humanoid Teleoperation System
Yixuan Li, Le Ma, Yutang Lin +8
Whole-body humanoid teleoperation enables humans to remotely control humanoid robots, serving as both a real-time operational tool and a scalable engine for collecting demonstratio…
cs.RO2026
Failure-Aware RL: Reliable Offline-to-Online Reinforcement Learning with Self-Recovery for Real-World Manipulation
Huanyu Li, Kun Lei, Sheng Zang +5
Post-training algorithms based on deep reinforcement learning can push the limits of robotic models for specific objectives, such as generalizability, accuracy, and robustness. How…