A task-conditioned two-stage system decouples grasp localization from interaction trajectory planning using specialized foundation models to improve generalization across heterogeneous object types.
Ram: Retrieval-based affordance transfer for generalizable zero-shot robotic manipulation
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PALM improves long-horizon robotic manipulation success by distilling affordance representations for object interaction and predicting within-subtask progress in a VLA model.
ViTacFormer learns a cross-modal visuo-tactile latent space with autoregressive tactile prediction and an easy-to-hard curriculum, then uses the representation for imitation learning that yields ~50% higher success and the first reported 11-stage, 2.5-minute autonomous dexterous tasks.
citing papers explorer
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HeteroGenManip: Generalizable Manipulation For Heterogeneous Object Interactions
A task-conditioned two-stage system decouples grasp localization from interaction trajectory planning using specialized foundation models to improve generalization across heterogeneous object types.
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PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation
PALM improves long-horizon robotic manipulation success by distilling affordance representations for object interaction and predicting within-subtask progress in a VLA model.
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ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation
ViTacFormer learns a cross-modal visuo-tactile latent space with autoregressive tactile prediction and an easy-to-hard curriculum, then uses the representation for imitation learning that yields ~50% higher success and the first reported 11-stage, 2.5-minute autonomous dexterous tasks.
- AffordGen: Generating Diverse Demonstrations for Generalizable Object Manipulation with Afford Correspondence