Oral Spotlights

  1. Learning the Contact Manifold for Accurate Pose Estimation During Peg-in-Hole Insertion of Complex Geometries
    Abhay Negi, Omey M. Manyar, Dhanush Kumar Varma Penmetsa, Satyandra Gupta

  2. Strategic Jenga Play via Graph Based Dynamics Modeling
    Kavya Puthuveetil, Xinyi Zhang, Kazuto Yokoyama, Tetsuya Narita

  3. Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control
    Yifan Hou, Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Siyuan Feng, Benjamin Burchfiel, Shuran Song

  4. Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking
    Yongpeng Jiang

Accepted Posters

  1. Estimating Deformable-Rigid Contact Interactions for a Deformable Tool via Learning and Model-Based Optimization
    Mark Van der Merwe, Miquel Oller, Dmitry Berenson, Nima Fazeli

  2. Learning Dexterous Deformable Object Manipulation Through Cross-Embodiment Dynamics Learning
    Zihao He, Bo Ai, Yulin Liu, Weikang Wan, Henrik I Christensen, Hao Su

  3. Implicit Contact Diffuser: Sequential Contact Reasoning with Latent Point Cloud Diffusion
    Zixuan Huang, Yinong He, Yating Lin, Dmitry Berenson

  4. On-Palm Dexterity: Dynamic Reorientation of Objects via Emergent Flipping and Sliding
    Zhixian Xie, Wen Yang, Wanxin Jin

  5. Convex MPC for Dynamic Planar Pushing via the Koopman Operator
    Cormac ONeill, Haruhiko Asada

  6. NISP: Neural Inverse Source Problem
    Youngsun Wi, Jayjun Lee, Miquel Oller, Nima Fazeli

  7. ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface
    Fangchen Liu, Chuanyu Li, Yihua Qin, Ankit Kumar Shaw, Jing Xu, Pieter Abbeel, Rui Chen

  8. Web2Grasp: Learning Functional Grasp with Reconstructed HOI from Web Images   [Poster]
    Hongyi Chen, Yunchao Yao, Yufei Ye, Zhixuan Xu, Homanga Bharadhwaj, Jiashun Wang, Zackory Erickson, Jeffrey Ichnowski

  9. In-Hand Manipulation with Enforced Grasp Stability for Contact-Rich Tasks
    Yifei Chen, Shihan Lu, Haoxuan Zhang, Kevin Lynch

  10. Leveraging Extrinsic Dexterity for Occluded Grasping on Undesirable Walls
    Keita Kobashi, Masayoshi Tomizuka

  11. Stop Merging, Start Separating: Why Merging Learning and Modeling Won’t Solve Manipulation but Separating the General From the Specific Will
    Vito Mengers, Alexander Koenig, Adrian Sieler, Xing Li, Oliver Brock

  12. O^3Afford: One-Shot 3D Object-to-Object Affordance Grounding for Generalizable Robotic Manipulation
    Tongxuan Tian, Xuhui Kang, Yen-Ling Kuo

  13. Particle-Grid Neural Dynamics for Learning Deformable Object Models from Depth Images
    Kaifeng Zhang, Baoyu Li, Kris Hauser, Yunzhu Li

  14. Cascaded Newton-based Augmented Lagrangian Method for Robotic Multi-Contact Simulation
    Jeongmin Lee, Minji Lee, Sunkyung Park, Jinhee Yun, Dongjun Lee

  15. Narrow Passage Manipulation Planning using Homotopy Optimization Method
    Minji Lee, Jeongmin Lee, Dongjun Lee

  16. Tool-as-Interface: Learning Robot Tool Use from Human Play through Imitation Learning
    Haonan Chen, Cheng Zhu, Yunzhu Li, Katherine Rose Driggs-Campbell

  17. Certifiably Safe Manipulation of Deformable Linear Objects via Joint Shape and Tension Prediction   [Poster]
    Yiting Zhang, Shichen Li

  18. Instrumentation for Better Demonstrations: A Case Study
    Remko Proesmans, Thomas Lips, Francis Wyffels

  19. A Constrained RL Control Policy for Contact-rich Non-prehensile Mobile Manipulation   [Poster]
    Ioannis Dadiotis, Mayank Mittal, Nikolaos G. Tsagarakis, Marco Hutter

  20. Revisiting Slider-Pusher Systems as Flat Systems: Model-Based Insights for Contact-Rich Manipulation
    Sander De Witte, Tom Lefebvre, Guillaume Crevecoeur

  21. Physical Twins: Bridging the Gap of Minimal Data and Real-world Human Experiments
    Elizabeth Peiros, Calvin Joyce

  22. Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation
    Malek Aburub, Cristian Camilo Beltran-Hernandez, Tatsuya Kamijo, Masashi Hamaya

  23. NormalFlow: Fast, Robust, and Accurate Contact-based Object 6DoF Pose Tracking with Vision-based Tactile Sensors
    Hung-Jui Huang, Michael Kaess, Wenzhen Yuan

  24. Adaptive Contact-rich Manipulation Through Few-shot Imitation Learning with Force-Torque Feedback and Pre-trained Object Representations
    Chikaha Tsuji, Luis Enrique Coronado Zuniga, Pablo Felipe Osorio Marin, Gentiane Venture

  25. Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation
    Han Xue, Jieji Ren, Wendi Chen, Gu Zhang, Fang Yuan, Guoying Gu, Huazhe Xu, Cewu Lu

  26. SAM2Act: Integrating Visual Foundation Model with A Memory Architecture for Robotic Manipulation
    Haoquan Fang, Markus Grotz, Wilbert Pumacay, Yi Ru Wang, Dieter Fox, Ranjay Krishna, Jiafei Duan

  27. Geometry-Aware Demonstration Augmentation for Scalable Robotic Manipulation
    Michael Sha, Yipu Chen, Minghao Guo, Yunsheng Tian, Chuang Gan, Wojciech Matusik

  28. AnySkin: Plug-and-play Skin Sensing for Robotic Touch
    Raunaq Bhirangi, Venkatesh Pattabiraman, Mehmet Enes Erciyes, Yifeng Cao, Tess Hellebrekers, Lerrel Pinto

  29. Learning Goal-Directed Object Pushing in Cluttered Scenes Using Location-Based Attention   [Poster]
    Nils Dengler, Juan Del Aguila Ferrandis, Joao Moura, Sethu Vijayakumar, Maren Bennewitz

  30. Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins
    Venkatesh Pattabiraman, Yifeng Cao, Siddhant Haldar, Lerrel Pinto, Raunaq Bhirangi

  31. PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos
    Hanxiao Jiang, Hao-Yu Hsu, Kaifeng Zhang, Hsin-Ni Yu, Shenlong Wang, Yunzhu Li

  32. Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation
    Siddhant Haldar, Lerrel Pinto

  33. FoAR: Force-Aware Reactive Policy for Contact-Rich Robotic Manipulation
    Zihao He, Hongjie Fang, Jingjing Chen, Hao-Shu Fang, Cewu Lu

  34. MeshDMP: Learning Motion on Surfaces for Flexible Manufacturing   [Poster]
    Matteo Dalle Vedove, Fares Abu-Dakka, Luigi Palopoli, Daniele Fontanelli, Matteo Saveriano

  35. Neural Dynamics Augmented Diffusion Policy
    Ruihai Wu, Haozhe Chen, Mingtong Zhang, Haoran Lu, Yitong Li, Yunzhu Li