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cs.RO2026
COWBOY: A Scalable Sim-to-Real Framework for Learning Contextual Whole-Body Manipulation
Jiahui Yang, Jason Jingzhou Liu, Ray Muxin Liu +4
Mobile manipulators must adapt not only to objects, but also to the spatial context in which they appear: where to position the base, how to manipulate, and where to look while nav…
cs.RO2026
FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning
Steven Oh, Jason Jingzhou Liu, Tony Tao +5
Contact-rich manipulation requires force sensitivity, but many robot arms lack dedicated force sensors due to their high cost. We present Neural External Torque Estimation (NEXT),…