13 papers
Bimanual Robot Manipulation via Multi-Agent In-Context Learning
Alessio Palma, Indro Spinelli, Vignesh Prasad +4
Language Models (LLMs) have emerged as powerful reasoning engines for embodied control. In particular, In-Context Learning (ICL) enables off-the-shelf, text-only LLMs to predict ro…
Self-Supervised Multisensory Pretraining for Contact-Rich Robot Reinforcement Learning
Rickmer Krohn, Vignesh Prasad, Gabriele Tiboni +1
Effective contact-rich manipulation requires robots to synergistically leverage vision, force, and proprioception. However, Reinforcement Learning agents struggle to learn in such…
HARBOR: A Harness Framework for Agentic Robot Reinforcement Learning
Zechu Li, Yufeng Jin, Xiaoyang Liu +4
Reinforcement learning (RL) has become a powerful paradigm for robot learning, particularly in sim-to-real settings, but its broader adoption remains limited by the engineering pip…
Multi-Resolution Tactile Imitation Learning for Contact-Rich Robotic Manipulation
Rickmer Krohn, Erik Helmut, Niklas Funk +3
Touch sensing is beneficial for solving a wide variety of manipulation tasks. While there exists a wide range of tactile sensors with different properties, exploiting the fusion of…
Semantic-Geometric Task Representations for Bimanual Manipulation from Human Demonstrations to Robot Action Planning
Franziska Herbert, Vignesh Prasad, Han Liu +2
Learning structured task representations from human demonstrations is essential for bimanual manipulation, where action ordering, object involvement, and interaction geometry vary…
Think Twice, Act Once: Verifier-Guided Action Selection For Embodied Agents
Nishad Singhi, Christian Bialas, Snehal Jauhri +4
Building generalist embodied agents capable of solving complex real-world tasks remains a fundamental challenge in AI. Multimodal Large Language Models (MLLMs) have significantly a…