DriftQL is a one-step offline RL policy that replaces diffusion and flow denoising with a learned drift field: attraction keeps actions on the data, repulsion keeps them diverse, and the critic tilts them toward high value. State of the art on D4RL and OGBench, and robust to noisy datasets.
DexSuite is a modular simulation framework and benchmark for multi-fingered hands, standardizing observations, actions, and evaluation across 20+ arm–hand configurations, single-arm and bimanual tasks, and rigid, articulated, and deformable objects. It ships with a Manus-glove teleoperation toolchain and an expert demonstration dataset.
CoRL 2026
QWM conditions a single generative dynamics model on scale-invariant morphology features and trains locomotion policies entirely in imagination. Given the same morphology information, a model-free policy degrades on unseen robots while QWM transfers zero-shot; to our knowledge, it is the first world model to show zero-shot cross-embodiment transfer within the quadrupedal family.
ECCV 2026
TacFiLM is a lightweight post-training fusion method that conditions a VLA’s intermediate visual features on pretrained tactile representations through feature-wise linear modulation, improving success rate, completion time, and force stability on contact-rich insertion and drawer-opening tasks.
ICLR 2026
Paper OpenReview Code Project page
CDPs add a contraction regularizer to diffusion policies that pulls nearby sampling flows together, suppressing solver and score-matching errors and unwanted action variance. Backed by theory and a practical recipe with a single extra hyperparameter, they often outperform standard diffusion policies in simulation and on real robots, most clearly when data is scarce.
IEEE RA-L 2025 · presented at ICRA 2026
Paper IEEE Xplore Project page
VOCALoco predicts the viability and cost of transport of several pretrained locomotion skills from local heightmaps, then executes the safest, most efficient one. It improves robustness on stair ascent and descent over an end-to-end DRL policy and transfers to a real ANYmal-D quadruped.