103 citations · 106 across the 23 of their papers we have counts for
5 papers · 1 filter
Learning with Object-centric Representations of Tactile Interactive Perception for Robot Manipulation
Xinyi Yang, Zilin Si, Zhuowei Xu +2
Implicit object properties that are difficult to directly infer from vision, such as material, container contents, or softness, can be revealed through tactile sensing and explorat…
BEACON: Belief-Enabled Adaptive CONtrol for Imitation Learning under Uncertainty
Moonyoung Lee, Soumojit Bhattacharya, George Kantor +1
Robot manipulation tasks often involve hidden state information that cannot be directly observed and must be inferred through sequential physical interactions. In such partially ob…
GTA-2: A Multi-VLM Framework for Synthesizing Robot Manipulation Skills via Grounded Task Axes
M. Yunus Seker, Shobhit Aggarwal, Ruwan Wickramarachchi +2
Robotic manipulation tasks are often decomposed into behaviors or skills. However, one often needs to predefine these behaviors for specific tasks or try to cover a wide range of t…
Inference-time Policy Steering via Vision and Touch
Yilin Wu, Zilin Si, Zeynep Temel +2
Inference-time steering adapts pre-trained generative robot policies during deployment by verifying candidate actions before execution. While prior methods typically perform this v…
TacO: Benchmarking Tactile Sensors for Object Manipulation
Anya Zorin, Zilin Si, Myungsun Park +11
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insuffi…