3 papers
cs.RO2026
Kinematic Interface for the Wild: Modular Bimanual Loco-Manipulation Capture from 360 Cameras Alone
Benjamin Yang, Weiying Wang, Shenggao Li +5
A wrist-mounted camera for UMI-style data collection must do two jobs: record the manipulation and localize in the scene. Most handheld devices localize online from workspace-facin…
cs.RO2026
From Pretraining to Proficiency: Real-World Subtask RL for Long-Horizon Manipulation with Minimal Human Intervention
Sichang Su, Benjamin Yang, Zhiyun Deng +4
A pretrained robot foundation policy may execute most of a long-horizon task yet repeatedly fail at a few critical subtasks. Collecting additional full-task demonstrations for supe…
cs.RO2023
Learning-based Inverse Perception Contracts and Applications
Dawei Sun, Benjamin C. Yang, Sayan Mitra
Perception modules are integral in many modern autonomous systems, but their accuracy can be subject to the vagaries of the environment. In this paper, we propose a learning-based…