4 papers
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…
RoboPlayground: Democratizing Robotic Evaluation through Structured Physical Domains
Yi Ru Wang, Carter Ung, Evan Gubarev +3
Evaluation of robotic manipulation systems has largely relied on fixed benchmarks authored by a small number of experts, where task instances, constraints, and success criteria are…
Inference-Time Policy Steering through Human Interactions
Yanwei Wang, Lirui Wang, Yilun Du +6
Generative policies trained with human demonstrations can autonomously accomplish multimodal, long-horizon tasks. However, during inference, humans are often removed from the polic…
GRAPE: Generalizing Robot Policy via Preference Alignment
Zijian Zhang, Kaiyuan Zheng, Zhaorun Chen +7
Despite the recent advancements of vision-language-action (VLA) models on a variety of robotics tasks, they suffer from critical issues such as poor generalizability to unseen task…