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cs.RO2026
HydroShear: Hydroelastic Shear Simulation for Tactile Sim-to-Real Reinforcement Learning
An Dang, Jayjun Lee, Mustafa Mukadam +4
In this paper, we address the problem of tactile sim-to-real policy transfer for contact-rich tasks. Existing methods primarily focus on vision-based sensors and emphasize image re…
cs.RO2026
Self-Refining Vision Language Model for Robotic Failure Detection and Reasoning
Carl Qi, Xiaojie Wang, Silong Yong +6
Reasoning about failures is crucial for building reliable and trustworthy robotic systems. Prior approaches either treat failure reasoning as a closed-set classification problem or…
cs.RO2023
ARMBench: An Object-centric Benchmark Dataset for Robotic Manipulation
Chaitanya Mitash, Fan Wang, Shiyang Lu +4
This paper introduces Amazon Robotic Manipulation Benchmark (ARMBench), a large-scale, object-centric benchmark dataset for robotic manipulation in the context of a warehouse. Auto…