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cs.RO2026
Ego2Contact: Predicting Touch from Egocentric Human Video for Contact-Rich Robot Manipulation
Qianqian Yang, Dayou Li, Bangya Liu +11
Contact locations and interaction forces are critical for contact-rich robot manipulation but are often ambiguous from vision alone. Measuring them on robots requires specialized t…
cs.RO2026
Disentangling Task-Relevant Latent Dynamics for Reward Modeling
Dayou Li, Jionghao Wang, Peihao Wang +9
Reward design remains a major bottleneck for reinforcement learning in robotic manipulation. Handcrafted dense rewards can compensate for the limited guidance provided by sparse re…