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cs.RO2026
Pose-Agnostic Robotic Functional Grasping via Observation-Action Canonicalization
Le Qiu, Cole Harrison, Jiankai Sun +5
Functional robotic grasping requires a policy that generalizes across diverse object geometries and poses while maintaining task-specific contact precision. We study this challenge…
cs.RO2026
SARM2: Multi-Task Stage Aware Reward Modeling for Self Improving Robotic Manipulation
Qianzhong Chen, Hau Zheng, Justin Yu +8
Fine-tuning vision-language-action (VLA) policies for long-horizon manipulation still relies heavily on behavior cloning, which requires costly high-quality demonstrations and keep…
cs.RO2026
LEGS: Fine-Tuning Teleop-Free VLAs for Humanoid Loco-manipulation in an Embodied Gaussian Splatting World
Hojune Kim, Timothy Chen, Jiankai Sun +4
Training vision-language-action (VLA) policies for humanoid loco-manipulation is constrained by the high cost and complexity of collecting human teleoperation demonstrations. VLA p…