Contact-rich manipulation benefits from tactile feedback that captures both detailed contact geometry and interaction forces. When scooping grains, contact patterns help infer spoon orientation, while resistance transmitted through the grasp guides motion. To provide these complementary sensing capabilities, we present...
Bing-Lin Wang, Xiao-Le Jiang, Zi-Cheng Teng et al.· 0 citations
This work introduces ID-WM (Implicit Dynamics World Models), a hierarchical world model that decouples state-space reachability from local control and yields a 135% performance gain over single-level world model MPC, particularly in complex, unseen configurations for long-horizon tasks.
Gao-Yue Zhou, Yvonne Wu, Zichen Jeff Cui et al.· 0 citations
Steertuning is introduced, a system that enables robots to learn new tasks in new environments from 5 human demonstrations in under 5 minutes, and achieves a 71% success rate across 12 tasks in 12 new environments, ranging from lab settings to kitchens in new homes.
Billy Yan, Isaac Tu, Kelly Lee et al.· 0 citations
This work believes Patch Policy provides a pipeline for the robotics community to readily leverage continuing progress in visual representation learning, without sacrificing the training efficiency or inference speed required for high-frequency, reactive control.
Gaoyue Zhou, Zichen Jeff Cui, Ada Langford et al.· arXiv.org· 0 citations
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