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cs.RO2026
MessyNav: Zero-Shot Navigation via Manipulation in Messy Environments
Kenneth Llontop, Cherie Ho, Dylan Zhou +4
Real-world environments are messy, with paths often blocked by everyday objects like chairs and toys, requiring robots to perform interactive navigation by manipulating obstacles t…
cs.RO2026
DexDrummer: In-Hand, Contact-Rich, and Long-Horizon Dexterous Robot Drumming
Hung-Chieh Fang, Amber Xie, Jennifer Grannen +2
Performing in-hand, contact-rich, and long-horizon dexterous manipulation remains an unsolved challenge in robotics. Prior hand dexterity works have considered each of these three…
cs.RO2025
Robot-Powered Data Flywheels: Deploying Robots in the Wild for Continual Data Collection and Foundation Model Adaptation
Jennifer Grannen, Michelle Pan, Kenneth Llontop +4
Foundation models (FM) have unlocked powerful zero-shot capabilities in vision and language, yet their reliance on internet pretraining data leaves them brittle in unstructured, re…