5 citations · 5 across the 11 of their papers we have counts for
6 papers · 1 filter
SoTa: Soft Tactile Skins for Dexterous Manipulation
Jingyun Yang, Baiyu Shi, Timothy Yu +6
A growing body of work suggests that tactile sensing gives robot policies contact information that complements vision in dexterous manipulation. However, visuo-tactile robot data r…
Demystifying When and Why VLAs Fail in Contact-Rich Tasks and How to Fix Them
Carlota Parés-Morlans, Nils Kuhn, Y. Isabel Liu +3
We address the problem of understanding when and why Vision-Language-Action models struggle with contact-rich manipulation tasks that require precise physical interaction. Prior wo…
Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?
Tyler Ga Wei Lum, Kushal Kedia, C. Karen Liu +1
Multi-fingered robots promise the speed and dexterity of human hands, yet challenging problems such as precise assembly have remained out of reach. These tasks are contact-rich, ma…
Breaking Lock-In: Preserving Steerability under Low-Data VLA Post-Training
Suning Huang, Jiaqi Shao, Ke Wang +5
Have you ever post-trained a generalist vision-language-action (VLA) policy on a small demonstration dataset, only to find that it stops responding to new instructions and is limit…
Are Foundation Models the Route to Full-Stack Transfer in Robotics?
Freek Stulp, Samuel Bustamante, João Silvério +3
In humans and robots alike, transfer learning occurs at different levels of abstraction, from high-level linguistic transfer to low-level transfer of motor skills. In this article,…
SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation
Kushal Kedia, Tyler Ga Wei Lum, Jeannette Bohg +1
The ability to manipulate tools significantly expands the set of tasks a robot can perform. Yet, tool manipulation represents a challenging class of dexterity, requiring grasping t…