3 papers
cs.RO2026
Assessing the Marginal Utility of Exocentric Head Views in UMI-Style Large-FoV Wrist-Camera Manipulation
Yuhui Duan, Shi Jin, Yuntian Wang +5
Multi-view perception is often treated as a safe design choice for robot manipulation: if one camera is useful, more cameras should be better. We revisit that assumption in tableto…
cs.RO2026
ARP: Enhancing Quantized Skill Abstractions via Visual Alignment and Iterative Refinement for Robotic Manipulation
Yuntian Wang, Zesheng Jia, Yuhui Duan +5
Learning visuomotor policies for long-horizon manipulation remains a fundamental challenge. Recent skill-based imitation learning methods based on discrete quantization have shown…
cs.RO2026
UMI-Bench 1.0: An Open and Reproducible Real-World Benchmark for Tabletop Robotic Manipulation with UMI Data
Shi Jin, Yuntian Wang, Yuhui Duan +16
Real-robot evaluation is essential for understanding whether learned manipulation policies can operate reliably outside curated demonstrations. This need is particularly pressing f…