2 papers
cs.RO2026
Residual Compliant Policy: Learning Compliant Policies from Few Demonstrations
Chunyu Jiang, Yichen Cai, Shuai Li +6
Contact-rich manipulation requires a robot to be precise in free space to establish the intended contacts, and compliant once in contact to avoid excessive forces. Imitation learni…
cs.RO2026
GaussTwin: Unified Simulation and Correction with Gaussian Splatting for Robotic Digital Twins
Yichen Cai, Paul Jansonnie, Cristiana de Farias +2
Digital twins promise to enhance robotic manipulation by maintaining a consistent link between real-world perception and simulation. However, most existing systems struggle with th…