11 papers
ReBRAC-v2: The Return of the King
Denis Tarasov, Robert K. Katzschmann
Recent offline reinforcement learning methods increasingly rely on expressive generative policies and specialized value-guidance mechanisms. We ask whether comparable progress can…
EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World
Ryan Punamiya, Simar Kareer, Zeyi Liu +37
Robot learning increasingly depends on large and diverse data, yet robot data collection remains expensive and difficult to scale. Egocentric human data offer a promising alternati…
Mask2Real-WM: Segmentation Masks as a Sim-to-Real Bridge for Controllable Dexterous World Models
Riccardo O. Feingold, Davide Liconti, Chenyu Yang +1
Action-conditioned world models allow robots to predict the future consequences of candidate actions without additional physical interaction, supporting policy evaluation, planning…
Replicating Human Anatomy with Vision Controlled Jetting -- A Pneumatic Musculoskeletal Hand and Forearm
Thomas Buchner, Stefan Weirich, Alexander M. Kübler +2
The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid fea…
Learning Soft Robotic Dynamics with Active Exploration
Hehui Zheng, Bhavya Sukhija, Chenhao Li +3
Soft robots offer unmatched adaptability and safety in unstructured environments, yet their compliant, high-dimensional, and nonlinear dynamics make modeling for control notoriousl…
Vision-Based Online Key Point Estimation of Deformable Robots
Hehui Zheng, Sebastian Pinzello, Barnabas Gavin Cangan +2
The precise control of soft and continuum robots requires knowledge of their shape, which has, in contrast to classical rigid robots, infinite degrees of freedom. To partially reco…