TouchGuide improves contact-rich robot manipulation by steering diffusion or flow-matching visuomotor policies with tactile feasibility scores from a contrastively trained Contact Physical Model.
Bifold: Bimanual cloth folding with language guidance
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A new GPU-accelerated deformable simulation framework trains manipulation policies in minutes using only synthetic data, achieving robust zero-shot transfer to physical robots.
citing papers explorer
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TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance
TouchGuide improves contact-rich robot manipulation by steering diffusion or flow-matching visuomotor policies with tactile feasibility scores from a contrastively trained Contact Physical Model.
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FLASH: Fast Learning via GPU-Accelerated Simulation for High-Fidelity Deformable Manipulation in Minutes
A new GPU-accelerated deformable simulation framework trains manipulation policies in minutes using only synthetic data, achieving robust zero-shot transfer to physical robots.