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cs.RO2026
Intent-guided Adaptive Stiffening for Visuomotor Policies under Unknown Resistance
Francesco Cufino, Carmela Mariniello, Mario Selvaggio +2
Manipulation tasks such as unscrewing a cap or sliding a part in contact with a surface require imposing force along a high-friction direction: the robot must overcome a resistance…
cs.RO2026
Optimal Transport Q-Learning for Flow Policy Steering and Acceleration
Andreas Sochopoulos, Esmeralda S. Whitammer, Nikolaos Tsagkas +3
Diffusion and flow policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions, especially…
cs.RO2026
Decoupling the Declarative from the Procedural in Vision-Language-Action Models
Nikolaos Tsagkas, Andreas Sochopoulos, Chris Xiaoxuan Lu +2
Deploying generalist robotic agents in the real world requires transferable skills. Specifically, a policy trained to clone a behavior from object-specific demonstrations must gene…