Author

Oliver Kroemer

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Preprint Sep 2026

Learning with Object-centric Representations of Tactile Interactive Perception for Robot Manipulation

Implicit object properties that are difficult to directly infer from vision, such as material, container contents, or softness, can be revealed through tactile sensing and exploratory interactions. However, because tactile signals are transient and sparse, extracting informative tactile events and effectively incorpora...

Xin-Yi Yang, Zi-Lin Si, Zhuo-Wei Xu et al. · 0 citations

Preprint Sep 2026

BEACON: Belief-Enabled Adaptive CONtrol for Imitation Learning under Uncertainty

Robot manipulation tasks often involve hidden state information that cannot be directly observed and must be inferred through sequential physical interactions. In such partially observable settings, conditioning an imitation learning policy directly on the recent raw observation history leads to poor performance. This...

Moonyoung Lee, Soumojit Bhattacharya, George Kantor et al. · 0 citations