6 papers
REDIRECT: A 1% Fix for Bad Robot Habits
Yu Zhang, Jiazhuo Li, Yancong Wei +3
Robots can acquire bad habits from a few defective moments in otherwise useful teleoperation. In mixed-quality robot data, normal and problematic demonstrations share most task beh…
DeViGrasp: Robust Visual Mobile Grasping for Quadruped Manipulators under Degraded Perception
Liang Zhou, Jiaming Su, Yancong Wei +2
Quadruped manipulators enable mobile grasping in complex environments, yet their whole-body control policies remain vulnerable to unreliable onboard visual perception. Existing met…
Rethinking Demonstration Unlearning in Imitation Learning for Robotics
Jiazhuo Li, Yu Zhang, Yiming Fei +4
Imitation learning for robotics depends on human demonstrations, some of which people may later ask to remove. Retraining without them is the natural reference, but its cost grows…
Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories
Renhao Lu, Mingxin Wang, Chenyang Cao +5
Viscous stains, characterized by high viscosity and complex rheological properties, remain a major challenge for robotic surface cleaning. Conventional wiping often spreads the sta…
PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation
Mingxin Wang, Zhirun Yue, Renhao Lu +7
Contact-rich manipulation requires not only vision-dominant task semantics but also closed-loop reactions to force/torque (F/T) transients. Yet, generative visuomotor policies are…
CushionCatch: A Compliant Catching Mechanism for Mobile Manipulators via Combined Optimization and Learning
Bingjie Chen, Keyu Fan, Qi Yang +6
Catching flying objects with a cushioning process is a skill commonly performed by humans, yet it remains a significant challenge for robots. In this paper, we present a framework…