4 papers
Semantics-to-Contact: A Stagewise Framework for Robust Contact-Rich Manipulation
Guanren Qiao, Ruixiang Ouyang, Sheng Xu +4
Contact-rich manipulation requires precise control under complex contact dynamics while remaining robust to diverse visual conditions. However, real-world reinforcement learning of…
Dexterity-BEV: Aligning 3D World and Actions for Generalizable Robot Policies Learning
Huayi Zhou, Wei Gao, Dekun Lu +12
End-to-end manipulation policies, combined with web-scale pretrained Vision-Language Models (VLMs), show the promise for generalizable and dexterous robotic manipulation. However,…
From Reaction to Anticipation: Proactive Failure Recovery through Agentic Task Graph for Robotic Manipulation
Sheng Xu, Ruixing Jin, Huayi Zhou +6
Although robotic manipulation has made significant progress, reliable execution remains challenging because task failures are inevitable in dynamic and unstructured environments. T…
HeteroGenManip: Generalizable Manipulation For Heterogeneous Object Interactions
Zhenhao Shen, Zeming Yang, Yue Chen +5
Generalizable manipulation involving cross-type object interactions is a critical yet challenging capability in robotics. To reliably accomplish such tasks, robots must address two…