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cs.RO2026
DITTO-X: Forward and Reverse Teleoperation for Dexterous Manipulation and Human Intervention
Zhanpeng He, Joaquin Palacios, Zhangyu Wang +5
Teleoperated demonstrations are a primary source of data for robot manipulation, and teleoperated interventions are a primary mechanism for correcting policies at deployment. Yet m…
cs.LG2026
Enhancing VLM Reward Models Through Structure-Aware Fine-Tuning
Pyrros Koussios, Chenhao Li, Xin Chen +1
Designing effective reward functions remains a major bottleneck in Reinforcement Learning (RL). Recent work uses large foundation Vision-Language Models (VLMs) as reward models, co…
cs.RO2026
PAINT: Partner-Agnostic Intent-Aware Cooperative Transport with Legged Robots
Zhihao Cao, Tianxu An, Chenhao Li +2
Collaborative transport requires robots to infer partner intent through physical interaction while maintaining stable loco-manipulation. This becomes particularly challenging in co…