Bridging Handheld and Teleoperated Supervision for Contact-Rich Manipulation via State-Gated Experts
cs.RO
Submitted: 2026-06-25
Updated: 2026-09-21
Terminology
Sources
- Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
- GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators
- Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
- Open X-Embodiment: Robotic Learning Datasets and RT-X Models
- DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
- Octo: An Open-Source Generalist Robot Policy
- $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
- Human-in-the-Loop Imitation Learning using Remote Teleoperation
- Residual Policy Learning
- Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections
- Force-Aware Residual DAgger via Trajectory Editing for Precision Insertion with Impedance Control
- Outrageously Large Neural Networks: The Sparsely-Gated Mixture-of-Experts Layer
- Abstracting Robot Manipulation Skills via Mixture-of-Experts Diffusion Policies
- MoE-ACT: Scaling Multi-Task Bimanual Manipulation with Sparse Task-Conditioned Mixture-of-Experts Transformers
- DINOv2: Learning Robust Visual Features without Supervision
- Perceiver IO: A General Architecture for Structured Inputs & Outputs
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