2 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…