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cs.RO2026
RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation
Xinyi Wang, Donghan Li, Zi'Ang Chen +5
In the field of robot learning, large-scale and diverse demonstration trajectories provide the fundamental basis for enhancing robotic manipulation ability. We introduce RoboTacDex…
cs.RO2026
PGDG: Physically Grounded Data Generation for Robust Bimanual Policy Learning from a Single Demonstration
Cunxi Dai, Haoran Chang, Aditya Nisal +5
Behavior cloning for contact-rich bimanual manipulation remains challenging because diverse demonstrations are expensive to collect, and even small disturbances can push the system…