3 papers
cs.RO2026
SkillWrapper: Generative Predicate Invention for Task-level Robot Planning
Ziyi Yang, Benned Hedegaard, Ahmed Jaafar +8
Generalizing from individual skill executions to long-horizon tasks is a core challenge in building autonomous robots. A promising direction is learning high-level, symbolic repres…
cs.RO2026
TAM: Torque Adaptation Module for Robust Motion Transfer in Manipulation
Dongwon Son, Florian Shkurti, Jason Lee +3
A policy tuned for one robot often behaves differently on another, whether due to the sim-to-real gap, unknown payloads, or the differing dynamics of two instances of the same robo…
cs.RO2026
Task and Skill Planning: Hierarchical Robot Planning with Black-Box Skills
Benned Hedegaard, Yichen Wei, Ahmed Jaafar +4
Task and motion planning (TAMP) is a well-established approach for solving long-horizon robot planning problems. Although TAMP methods have historically assumed that each task-leve…