2 papers
cs.RO2026
Peg-in-Bench: A Modular Benchmark for High-Precision Robotic Insertion
Yosel Delgado, José G. Buenaventura-Carreón, Floris Erich +4
High-precision insertion remains a fundamental challenge in robotic manipulation due to the strict alignment requirements and contact-rich interactions involved. Although peg-in-ho…
cs.RO2025
A Flexible Field-Based Policy Learning Framework for Diverse Robotic Systems and Sensors
Jose Gustavo Buenaventura Carreon, Floris Erich, Roman Mykhailyshyn +3
We present a cross robot visuomotor learning framework that integrates diffusion policy based control with 3D semantic scene representations from D3Fields to enable category level…