Author

László A. Jeni

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Preprint Sep 2026

ManiSkillFormer: Demonstration-Free Compositional Manipulation via Geometric Contracts and Agentic Skill Graph

Adapting robotic manipulation to new objects and tasks often requires additional demonstrations or manual engineering. Reusable manipulation skills can reduce this effort, but adapting these skills to new scenes remains challenging. We present ManiSkillFormer, a framework for demonstration-free and compositional manipu...

Pei-Qi Yu, Mosam Dabhi, Shan Li et al. · 1 citation

Preprint Aug 2026

MAD-HOI: Masked Autoregressive Diffusion for Generating Articulated Hand Object Interactions from Text

MAD-HOI is a model performing Masked Autoregression with Diffusion with Diffusion for HOI generation that is capable of motion generation for atomic and composite articulated sequences, conditioned motion completion and infilling, as well as EOM prediction from a single training objective.

Ananya Bal, Kartik Sharma, E. Lai et al. · 0 citations