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cs.RO2026
What Matters When Cotraining Robot Manipulation Policies on Everyday Human Videos?
Richard Li, Aditya Prakash, Andrew Wen +3
Human video datasets used for cotraining robot manipulation policies largely consist of curated demonstrations where motions are orchestrated to resemble robot behavior and 3D hand…
cs.RO2026
Tune to Learn: How Controller Gains Shape Robot Policy Learning
Antonia Bronars, Younghyo Park, Pulkit Agrawal
Position controllers have become the dominant interface for executing learned manipulation policies. Yet a critical design decision remains understudied: how should we choose contr…
cs.RO2023
Aligning Robot and Human Representations
Andreea Bobu, Andi Peng, Pulkit Agrawal +2
To act in the world, robots rely on a representation of salient task aspects: for example, to carry a coffee mug, a robot may consider movement efficiency or mug orientation in its…