4 papers
RopeFormer: Cross-Trial Adaptation from Interaction History for Dynamic Rope Manipulation
Menglin Wu, Kaixiang Yao, Shangbo Luan +2
Dynamic rope manipulation is highly sensitive to unknown object dynamics: the same robot motion can produce substantially different responses across ropes, while explicitly identif…
3DWay: Generalizing Robot Manipulation via 3D Consistent Waypoints
Ziqin Huang, Yingyue Li, Chenyangguang Zhang +6
Intermediate representations are key to bridging the modality gap between generalizable manipulation policies and large-scale pretrained vision-language models (VLMs). Among these,…
SAGA: Open-World Mobile Manipulation via Structured Affordance Grounding
Kuan Fang, Yuxin Chen, Xinghao Zhu +3
We present SAGA, a versatile and adaptive framework for visuomotor control that can generalize across various environments, task objectives, and user specifications. To efficiently…
Versatile Loco-Manipulation through Flexible Interlimb Coordination
Xinghao Zhu, Yuxin Chen, Lingfeng Sun +4
The ability to flexibly leverage limbs for loco-manipulation is essential for enabling autonomous robots to operate in unstructured environments. Yet, prior work on loco-manipulati…