Adapting robots to new objects and tasks requires interaction experience that can be costly to obtain. We present WorldContact, a contact-centric world model for deformable-object manipulation, constructed from a limited set of high-quality trajectories to generate additional training data efficiently. It predicts object dynamics using larger time steps than the source numerical simulator, which requires small integration steps to resolve rapid motion and prevent interpenetration. We evaluate WorldContact across 16 shopping-bag manipulation tasks. State-rollout measurements on a single H100 GPU show a $10\times$ speedup over the source simulator, excluding rendering and disk I/O. We use the generated data to fine-tune an existing vision-language-action policy and deploy it directly on a real robot. In bag lifting, the same policy achieves 65% single-attempt success when fine-tuned on source simulation data alone, compared with 95% when fine-tuned on the dataset expanded with WorldContact. These results support efficient data generation with WorldContact for robot policy adaptation.
DemoMimic (Dexterous Motion Mimic), a policy that manipulates objects by focusing on their geometry local to the contact points to improve sim-to-real consistency, yielding a single real-world policy that transfers across objects of varying shape, scale, mass, and friction wherever local contact structure is preserved.
Robotic assembly in high-mixture settings requires adaptable systems that can handle diverse parts, yet current approaches typically rely on policies specialized to each insertion task. Although this can reach high success rates, it makes the process of deploying systems for new problems tedious and time consuming. We...
Nicklas Hansen, Iretiayo Akinola, Yi-Jie Guo et al.· 0 citations
RoboFolDeX is introduced, a physical-world benchmark built entirely from real-robot data, with garment folding as its primary task, and a fair real-robot evaluation platform for externally submitted policies, with standardized tasks, held-out physical objects, controlled initializations, and a unified execution protoco...
To the knowledge, this work provides the first demonstration of real-time cross-terrain whole-body teleoperation on a humanoid robot, alongside object interaction, stable responses to missing supports, and robust recovery from falls.
Zi-Yang Cheng, Tian-Shu Tang, Jin-Xi Lan et al.· 0 citations
A central challenge in collaborative robotics is enabling robots to acquire new skills directly from human demonstrations without requiring prior knowledge of the objects involved. We present a system that records user activities and decomposes them into primitive actions by analyzing hand trajectories, gaze-based atte...
Jaime Duque-Domingo, E. Zalama, J. Gómez-García-Bermejo· IEEE International Symposium...· 0 citations
Robot manipulation data collection has been shifting from teleoperation toward robot-free demonstrations, through interfaces such as the Universal Manipulation Interface (UMI) or directly from human hands. Vision-Language-Action (VLA) policies trained on such data inherit the demonstrator's timing. Yet human timing doe...
Mimo Shirasaka, Takehiko Ohkawa, Takuya Okubo et al.· 0 citations
