This paper presents GRAIL, a digital generation pipeline that synthesizes human-object interactions for humanoid robots.

The paper presents BoxTwin, an interactive digital twin framework that learns the full dynamics of elastoplastic articulated objects from videos and accurately tracks joint trajectories and reproduces…

This paper introduces FurnitureVLA, a systematic study of real-scale bimanual furniture assembly using Vision-Language-Action models, improving simulation success from 48% to 80% and reducing errors.

The paper presents GrainGS, a dynamic Gaussian framework for scene reconstruction that balances fine-grained motion modeling, structural stability, and compact representation.

The paper presents AutoDex, a system that automatically collects real-world data for robust dexterous grasping, achieving a 4.8x throughput improvement over teleoperation and higher success rate than…

GSAM introduces a generalizable and safe robotic framework for articulated object manipulation, significantly improving success rates and reducing variability across diverse tasks by integrating commo…

SimuScene introduces a novel compositional 3D reconstruction pipeline that integrates physics simulation directly into the shape and layout estimation process to generate stable, simulation-ready 3D s…

RoboDream introduces an embodiment-centric world model that synthesizes photorealistic, physically feasible robot demonstrations by decoupling motion generation from environment synthesis, significant…

The paper introduces DexVerse, a large-scale and modular benchmark for dexterous manipulation with 100 tasks, 3 robot arms, 6 hands, and configurable visual variations.

This paper presents Mana, a sim-to-real framework for dexterous articulated tool manipulation.

The paper introduces BayesContact, a framework for visuo-tactile pose estimation using simulation-based inference, improving pose observability and insertion success by 30%.

T2Mo is a novel framework that generates controllable dynamic 3D object shapes by combining explicit 3D trajectories for spatial guidance with natural language text semantics.

The paper introduces Staged Executable Inverse Graphics (SEIG), an agentic framework that uses general-purpose Vision-Language Models (VLMs) to reconstruct editable 3D scenes directly into executable…

The paper proposes PointSplat, a human-centric approach for producing compact 3D human representations from input views, reducing inter-view redundancy and improving rendering quality.

This paper introduces a nonlinear, actuator-aware safety filter for 3D Gaussian Splatting (3DGS) based on full quadrotor dynamics, reducing trajectory jerk by 47% and running 2.25 times faster than ex…

The paper introduces using frozen, generalist value functions as differentiable surrogates to efficiently optimize and analyze new multi-embodiment robot designs without requiring repeated reinforceme…