3 papers
cs.RO2026
Rethinking Demonstration Unlearning in Imitation Learning for Robotics
Jiazhuo Li, Yu Zhang, Yiming Fei +4
Imitation learning for robotics depends on human demonstrations, some of which people may later ask to remove. Retraining without them is the natural reference, but its cost grows…
cs.RO2026
Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories
Renhao Lu, Mingxin Wang, Chenyang Cao +5
Viscous stains, characterized by high viscosity and complex rheological properties, remain a major challenge for robotic surface cleaning. Conventional wiping often spreads the sta…
cs.RO2026
PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation
Mingxin Wang, Zhirun Yue, Renhao Lu +7
Contact-rich manipulation requires not only vision-dominant task semantics but also closed-loop reactions to force/torque (F/T) transients. Yet, generative visuomotor policies are…