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cs.RO2026
Assessing the Marginal Utility of Exocentric Head Views in UMI-Style Large-FoV Wrist-Camera Manipulation
Yuhui Duan, Shi Jin, Yuntian Wang +5
Multi-view perception is often treated as a safe design choice for robot manipulation: if one camera is useful, more cameras should be better. We revisit that assumption in tableto…
cs.RO2026
TORL-VLA: Tactile Guided Online Reinforcement Learning for Contact-Rich Manipulation
Huaihang Zheng, Yi Yang, Kai Ma +8
Vision-Language-Action (VLA) models have become a powerful framework for robotic manipulation, and recent studies have introduced tactile or force feedback into VLAs to address con…
cs.RO2026
UMI-Bench 1.0: An Open and Reproducible Real-World Benchmark for Tabletop Robotic Manipulation with UMI Data
Shi Jin, Yuntian Wang, Yuhui Duan +16
Real-robot evaluation is essential for understanding whether learned manipulation policies can operate reliably outside curated demonstrations. This need is particularly pressing f…