Physical interaction quality is central to deformable-object manipulation, yet most benchmarks evaluate task success alone. A policy may complete the task while allowing slip or causing excessive compression. A primary bottleneck is the absence of visuo-tactile datasets that pair policy-visible contact observations wit...
Bowen Jing, Ming-Xin Wang, Ruiyang Hao et al.· 0 citations
UMI-Bridge, which uses UMI as an intermediate domain to align representations according to action equivalence rather than pixel similarity, supports action-anchored latent alignment for data-efficient robot learning and UMI-to-robot task transfer.
Hai-Yi Liu, Jin-Ming Ma, Ke Rui et al.· 0 citations
JEPA-style latent world models can use Euclidean distance to a goal latent as the cost for model-predictive control (MPC). Strong decoding of task variables, however, does not guarantee that this particular cost ranks candidate action sequences by real task progress. We call the latter property \emph{decision-metric al...
Jia-Wei Wang, Ke Rui, Yu-Shen Zuo et al.· 8 citations
GaussianDream demonstrates that training-time current Gaussian reconstruction and future Gaussian prediction provide effective 3D supervision, but its dense VGGT/TGE-based prefix jointly carries state, dynamics, and action-conditioning information.
Yu-Qing Jiang, Zi-Jian Zhang, Wei-Tao Zhou et al.· 1 citation
We use cookies to run the site and, with your consent, for analytics and to show ads.
See our Cookie Policy.
