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cs.RO2026
ContactBench 1.0: A Benchmark for Everyday Contact-Rich Robotic Manipulation
Jingyi Xiang, Yixuan Wang, Jeannette Bohg +1
Contact-rich manipulation underlies many everyday human activities, yet evaluating robots on such tasks remains difficult: the tasks involve diverse contact behaviors and are hard…
cs.CV2026
ClothAtlas: Joint Garment Identification and State Estimation under Self-Occlusion
Jens Lundell, Alberta Longhini, Lei Shu +6
Garment manipulation requires inferring both garment identity and complete configuration from partial, self-occluded observations. This creates a chicken-and-egg problem: completin…
cs.LG2026
Global Exponential Convergence of Two-Layer Linear Network Training
Stephen Y Zhang, Gabriel Peyré
We prove global exponential (linear) convergence with an explicit rate in the rich scaling for wide two-layer linear networks trained with smooth Polyak-Lojasiewicz predictor losse…