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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
PHIRL: Aligning Learned Rewards with Task Progress for Inverse Reinforcement Learning
Hang Yu, James Staley, Cheng Xi Tsou +8
Human demonstrations provide dense policy-level information but sometimes lack local precision. Human feedback presents accurate local critiques, but offers sparse evaluations rath…
cs.RO2025
FLEX: A Framework for Learning Robot-Agnostic Force-based Skills Involving Sustained Contact Object Manipulation
Shijie Fang, Wenchang Gao, Shivam Goel +3
Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significa…