3 papers indexed
Heng Zhang, Gehan Zheng, Kaifeng Zhang, Jay Song, Shivansh Patel, Sonny Hu, et al.
Digital twins enable robots to anticipate and adapt to physical interactions, but existing models struggle with elastoplastic articulated objects (EAOs) that exhibit nonlinear elasticity, plastic yielding, and damage accumulation. We present BoxTwin, an interactive digital twin f…
Shivansh Patel, Kaifeng Zhang, Sanjay Pokkali, Svetlana Lazebnik, Yunzhu Li
Simulating deformable objects is essential for a wide range of robotic manipulation applications, yet accurately predicting their dynamics remains challenging. We propose Physics-Guided Residual Dynamics (PGRD), a hybrid simulation framework that combines the advantages of physic…
Dwip Dalal, Shivansh Patel, Chahit Jain, Jeonghwan Kim, Utkarsh Mishra, Alex Baratian, et al.
Finetuning a pretrained vision-language model (VLM) on robot demonstrations via behavior cloning (BC) has become the standard recipe for vision-language-action (VLA) policies. However, BC finetuning progressively overwrites the pretrained representations that support visual and s…