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cs.RO2026
VICAR: Video Imitation with Contact-Aware Retargeting for Humanoid Interactive Skills
Dvij Kalaria, Bike Zhang, S. Shankar Sastry
Third-person human videos offer a scalable alternative to task-specific reward engineering, teleoperation, and manually scripted demonstrations for humanoid loco-manipulation. Rece…
cs.RO2026
Morphometric Imitation: From Morphology and Contact Aware Hand Retargeting to Sim-to-Real Visuomotor Policy
Tara Sadjadpour, Siming He, C. K. Wolfe +5
Human hand-object interactions (HOIs) provide a rich source of demonstrations for dexterous manipulation, but learning directly from them presents challenges in bridging morphology…
cs.RO2026
FARM: Find Anything using Relational Spatial Memory
Siming He, Leo Huang, Adam Lilja +6
Robots operating in homes, warehouses, and other object-rich environments need memory systems that can find specific object instances on demand. Object-level memory alone is often…