Wiggle and Go! is a two‑stage framework for zero‑shot rope manipulation that first performs a brief, safe wiggle action to infer rope parameters, then uses those parameters to condition a trajectory optimizer for goal‑conditioned execution. The method achieves 3.55 cm average accuracy on 3D target striking in real‑world tests, far outperforming uninformed baselines, and secures over 50% success on multi‑objective lobbing and draping tasks. Predicted parameters transfer well to unseen motions, with a 0.95 Pearson correlation between simulated and real rope dynamics, demonstrating task‑agnostic generalization without retraining.
arXiv:2606. 06218v1 Announce Type: cross Abstract: A policy tuned for one robot often behaves differently on another, whether due to the sim-to-real gap, unknown payloads, or the differing dynamics of two instances of the same robot.
arXiv:2405. 03728v3 Announce Type: replace-cross Abstract: Zero-shot optimization involves optimizing a target task that was not seen during training, aiming to provide the optimal solution without or with minimal adjustments to the optimizer.
The paper reports a 2nd place solution for the HANDS 2026 Dexterous Grasp Motion track, targeting the 12‑DoF LinkerHand O6. The method warps a single successful GraspM3 demonstration into a 12‑D trajectory, avoiding step‑by‑step policy generation, and is trained with one‑step PPO across 4,824 objects. It achieved 94.61% success on the easy track and 57.18% on the hard track of the private test set.
arXiv:2602. 09580v4 Announce Type: replace-cross Abstract: Real-world fine-tuning of dexterous manipulation policies remains challenging due to limited real-world interaction budgets and highly multimodal action distributions.
arXiv:2605. 13548v3 Announce Type: replace-cross Abstract: Existing robotic foundation models, while powerful, are predicated on an implicit assumption of temporal homogeneity: treating all actions as equally informative during optimization.
World models endow perceptual systems with the ability to predict how scenes evolve under interaction. They are most beneficial when trained on diverse volumes of data, to instill a rich prior into do...
Zero-WAM introduces a causal video-action model that enables robots to perform unseen manipulation tasks by following in-context human video guidance. The authors create HumanGen, a dataset of 74.2K human-robot ICL pairs across 8.6K tasks, and propose an in-context future chunk prediction objective to prevent shortcut learning. In simulation, Zero-WAM attains a 47.0% success rate on seven unseen tasks, outperforming the best video-action baseline by 29.5 percentage points, and demonstrates real‑world generalization to complex, long‑horizon, and fine‑grained tasks.
arXiv:2609.07534v2 Announce Type: replace-cross Abstract: Contact-rich assembly remains challenging because it requires submillimeter spatial accuracy and reliable interpretation of forces during sus...
arXiv:2609.19142v1 Announce Type: new Abstract: World models endow perceptual systems with the ability to predict how scenes evolve under interaction. They are most beneficial when trained on diverse...
Zero-shot cross-task generalization, where a policy must execute manipulation tasks never seen during training, remains a central challenge in robot learning. In large language models, a novel task ca...
arXiv:2505. 03296v2 Announce Type: replace-cross Abstract: We present Mixture of Discrete-time Gaussian Processes (MiDiGap), a novel approach for flexible policy representation and imitation learning in robot manipulation.
arXiv:2606. 04708v1 Announce Type: cross Abstract: Universal Manipulation Interface (UMI) enables scalable real-world robot data collection without hardware-specific teleoperation, yet leveraging UMI data to train large-scale Vision-Language-Action (VLA) models remains fundamentally challenging.