Cover Image

Refinery: Active Fine-tuning and Deployment-time Optimization for Contact-Rich Policies

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Tang, Bingjie, Akinola, Iretiayo, Xu, Jie, Wen, Bowen, Fox, Dieter, Sukhatme, Gaurav S., Ramos, Fabio, Gupta, Abhishek, Narang, Yashraj
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries
by: Tang, Bingjie, et al.
Published: (2024)

SRSA: Skill Retrieval and Adaptation for Robotic Assembly Tasks
by: Guo, Yijie, et al.
Published: (2025)

FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty
by: Noseworthy, Michael, et al.
Published: (2024)

TacSL: A Library for Visuotactile Sensor Simulation and Learning
by: Akinola, Iretiayo, et al.
Published: (2024)

MatchMaker: Automated Asset Generation for Robotic Assembly
by: Wang, Yian, et al.
Published: (2025)

SPARR: Simulation-based Policies with Asymmetric Real-world Residuals for Assembly
by: Guo, Yijie, et al.
Published: (2026)

Neural Robot Dynamics
by: Xu, Jie, et al.
Published: (2025)

The Reality Gap in Robotics: Challenges, Solutions, and Best Practices
by: Aljalbout, Elie, et al.
Published: (2025)

Point Bridge: 3D Representations for Cross Domain Policy Learning
by: Haldar, Siddhant, et al.
Published: (2026)

Signatures Meet Dynamic Programming: Generalizing Bellman Equations for Trajectory Following
by: Ohnishi, Motoya, et al.
Published: (2023)

DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation
by: Mandi, Zhao, et al.
Published: (2025)

VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning
by: Huang, Binghao, et al.
Published: (2025)

SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment
by: Garrett, Caelan, et al.
Published: (2024)

Active Signal Emitter Placement In Complex Environments
by: Denniston, Christopher E., et al.
Published: (2024)

DREAM: Decentralized Real-time Asynchronous Probabilistic Trajectory Planning for Collision-free Multi-Robot Navigation in Cluttered Environments
by: Şenbaşlar, Baskın, et al.
Published: (2023)

Inverse Risk-sensitive Multi-Robot Task Allocation
by: Shi, Guangyao, et al.
Published: (2024)

Zero-Shot Generalization of Vision-Based RL Without Data Augmentation
by: Batra, Sumeet, et al.
Published: (2024)

Zero-Shot Visual Generalization in Robot Manipulation
by: Batra, Sumeet, et al.
Published: (2025)

WARPD: World model Assisted Reactive Policy Diffusion
by: Hegde, Shashank, et al.
Published: (2024)

SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation
by: Hsu, Cheng-Chun, et al.
Published: (2024)

Benchmarking Population-Based Reinforcement Learning across Robotic Tasks with GPU-Accelerated Simulation
by: Shahid, Asad Ali, et al.
Published: (2024)

ASID: Active Exploration for System Identification in Robotic Manipulation
by: Memmel, Marius, et al.
Published: (2024)

PEEK: Guiding and Minimal Image Representations for Zero-Shot Generalization of Robot Manipulation Policies
by: Zhang, Jesse, et al.
Published: (2025)

VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation
by: Liu, I-Chun Arthur, et al.
Published: (2024)

CppFlow: Generative Inverse Kinematics for Efficient and Robust Cartesian Path Planning
by: Morgan, Jeremy, et al.
Published: (2023)

LIPP: Load-Aware Informative Path Planning with Physical Sampling
by: Kim, Hojune, et al.
Published: (2026)

Can Large Language Models Solve Robot Routing?
by: Huang, Zhehui, et al.
Published: (2024)

Latent Activation Editing: Inference-Time Refinement of Learned Policies for Safer Multirobot Navigation
by: Das, Satyajeet, et al.
Published: (2025)

Nigeria: Oil Refinery
Published: (2024)

RobotSmith: Generative Robotic Tool Design for Acquisition of Complex Manipulation Skills
by: Lin, Chunru, et al.
Published: (2025)

Adaptive Horizon Actor-Critic for Policy Learning in Contact-Rich Differentiable Simulation
by: Georgiev, Ignat, et al.
Published: (2024)

Robot Policy Evaluation for Sim-to-Real Transfer: A Benchmarking Perspective
by: Yang, Xuning, et al.
Published: (2025)

One QuantLLM for ALL: Fine-tuning Quantized LLMs Once for Efficient Deployments
by: Yi, Ke, et al.
Published: (2024)

Proximal Policy Gradient Arborescence for Quality Diversity Reinforcement Learning
by: Batra, Sumeet, et al.
Published: (2023)

NIGERIA: State Refinery Reopens
Published: (2024)

PIP-LLM: Integrating PDDL-Integer Programming with LLMs for Coordinating Multi-Robot Teams Using Natural Language
by: Shi, Guangyao, et al.
Published: (2025)

Learning Geometry-Aware Nonprehensile Pushing and Pulling with Dexterous Hands
by: Li, Yunshuang, et al.
Published: (2025)

Towards Efficient MPPI Trajectory Generation with Unscented Guidance: U-MPPI Control Strategy
by: Mohamed, Ihab S., et al.
Published: (2023)

VLN-Video: Utilizing Driving Videos for Outdoor Vision-and-Language Navigation
by: Li, Jialu, et al.
Published: (2024)

Quality Diversity for Robot Learning: Limitations and Future Directions
by: Batra, Sumeet, et al.
Published: (2024)