Automatically converting demos into labeled datasets to enable the rapid training of task-specific object detectors that outperform existing state-of-the-art VLMs.
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Accelerating Residual Reinforcement Learning with Uncertainty Estimation
We propose two improvements to Residual RL that further enhance its sample efficiency and make it suitable for stochastic base policies. First, we leverage uncertainty...
Real-is-Sim: Bridging the Sim-to-Real Gap with a Dynamic Digital Twin
We introduce real-is-sim, a new approach to integrating simulation into behavior cloning pipelines. In contrast to real-only methods, our framework allows policies to seamlessly switch...
ICRA 2026 Publication Round Up
We’ll be presenting robotic research that includes contact-rich bimanual manipulation and policy learning, an open source package for sample-based Model Predictive Control (MPC), how to...
A New Benchmark in Robot Juggling
AthenaZero can juggle barehanded using onboard vision feedback. By using multi-fingered hands, it can transition seamlessly between a wide range of juggling patterns.
When Life Gives You BC, Make Q-functions: Extracting Q-values from Behavior Cloning for On-Robot Reinforcement Learning
We propose Q2RL, Q-Estimation and Q-Gating from Behavior Cloning for Reinforcement Learning, an algorithm for efficient offline-to-online learning.
Generalizing from References using a Multi-Task Reference and Goal-Driven RL Framework
We introduce a multi-task RL training paradigm that treats reference motion as a prior for behavioral shaping rather than a deployment-time constraint.
Scaling Simulation Data Generation
How AnyTask and ExpertGen Bridge the Sim-to-Real Gap
Getting a Grip on Robotic Data Collection
To make sure the data collected transfers to the robot, we’ve co-designed handheld and robot grippers: same linkage mechanisms, same degrees of freedom, same force...
Getting a Grip on Robotic Data Collection
Redesigning how we collect bespoke data for manipulation tasks.
What Makes a Job “Dull, Dirty, Dangerous?” Redefining Undesirable Work for Robotics
We propose a framework to help the robotics community explore how automation impacts jobs that are considered dull, dirty, dangerous (DDD).
AthenaZero: A Bimanual Robot for Dynamic Manipulation
AthenaZero is a robotic manipulator built to tackle dynamic tasks like a human arm. This fast, precise robot can switch in an instant from a...