This paper proposes a data-driven framework for contact force estimation in Deformable Tool Manipulation using a compact LSTM and few-shot adaptation strategy.

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

This paper presents a robot-agnostic compliant-control framework with standardized interfaces for ROS control ecosystem, enabling reusable infrastructure for various manipulators and diverse compliant…

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…

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…

The paper proposes an iCEM+TL framework that combines the Sample-efficient Cross-Entropy Method with Transfer Learning and Reward Redesign to improve robotic motion planning for complex tasks like sta…

Researchers built a compliant, tapered, continuum arm inspired by the elephant trunk using 3D printing and tendon-driven actuation, enabling whole-body grasping of various objects.

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.

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…

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

DeMaVLA is a generalizable Vision-Language-Action foundation model designed for deformable object manipulation, achieving strong real-world performance on folding tasks by leveraging large-scale real-…

A two-layer framework using a large language model for force-conditioned reinforce learning with recovery maneuvers and force signatures.

This paper presents OrchardBench, a physically-grounded, GPU-parallel simulation of apple-orchard trees for robotic tree-fruit harvesting research.

This paper presents ArtiTwinSplat, a framework for constructing articulated, photo-realistic digital twins of objects directly from RGB-D videos in real-world environments.

CubePart is a generative framework that enables the creation of complex 3D meshes by explicitly controlling and generating individual, semantically defined parts based on open-vocabulary text prompts.

The paper argues that observed gains in multimodal agents using tools may be due to learning tool-calling patterns rather than genuine capability expansion, finding that tool access provides little co…

The paper introduces Center-of-Pressure (CoP), a physics-grounded tactile representation that enables robust zero-shot sim-to-real transfer for complex, contact-rich manipulation tasks.