Cover Image

Quality Over Quantity: Curating Contact-Based Robot Datasets Improves Learning

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Sathyanarayan, Hrishikesh, Vantilborgh, Victor, Abraham, Ian
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

Exciting Contact Modes in Differentiable Simulations for Robot Learning
by: Sathyanarayan, Hrishikesh, et al.
Published: (2024)

Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation
by: Sathyanarayan, Hrishikesh, et al.
Published: (2026)

Behavior Synthesis via Contact-Aware Fisher Information Maximization
by: Sathyanarayan, Hrishikesh, et al.
Published: (2025)

Dual Control Reference Generation for Optimal Pick-and-Place Execution under Payload Uncertainty
by: Vantilborgh, Victor, et al.
Published: (2025)

Stein Variational Uncertainty-Adaptive Model Predictive Control
by: Sathyanarayan, Hrishikesh, et al.
Published: (2026)

Quality over Quantity: Demonstration Curation via Influence Functions for Data-Centric Robot Learning
by: Lee, Haeone, et al.
Published: (2026)

Leveraging Haptic Feedback to Improve Data Quality and Quantity for Deep Imitation Learning Models
by: Cuan, Catie, et al.
Published: (2022)

REASSEMBLE: A Multimodal Dataset for Contact-rich Robotic Assembly and Disassembly
by: Sliwowski, Daniel, et al.
Published: (2025)

Probabilistic Latent Variable Modeling for Dynamic Friction Identification and Estimation
by: Vantilborgh, Victor, et al.
Published: (2024)

Robot Data Curation with Mutual Information Estimators
by: Hejna, Joey, et al.
Published: (2025)

Graph-based Decentralized Task Allocation for Multi-Robot Target Localization
by: Peng, Juntong, et al.
Published: (2023)

Search at Scale: Improving Numerical Conditioning of Ergodic Coverage Optimization for Multi-Scale Domains
by: Lahrach, Yanis, et al.
Published: (2025)

Proprioceptive Image: An Image Representation of Proprioceptive Data from Quadruped Robots for Contact Estimation Learning
by: Abati, Gabriel Fischer, et al.
Published: (2025)

Linking Exteroception and Proprioception through Improved Contact Modeling for Soft Growing Robots
by: Fuentes, Francesco, et al.
Published: (2025)

Unified Complementarity-Based Contact Modeling and Planning for Soft Robots
by: Azizkhani, Milad, et al.
Published: (2026)

ContactRL: Safe Reinforcement Learning based Motion Planning for Contact based Human Robot Collaboration
by: Mulkana, Sundas Rafat, et al.
Published: (2025)

A Contact-Safe Reinforcement Learning Framework for Contact-Rich Robot Manipulation
by: Zhu, Xiang, et al.
Published: (2022)

Identifying Physical Interactions in Contact‐Based Robot Manipulation for Learning from Demonstration
by: Alex Harm Gert‐Jan Overbeek, et al.
Published: (2025)

SRL-VIC: A Variable Stiffness-Based Safe Reinforcement Learning for Contact-Rich Robotic Tasks
by: Zhang, Heng, et al.
Published: (2024)

Koopman Operators in Robot Learning
by: Shi, Lu, et al.
Published: (2024)

Contact-Rich Robotic Assembly in Construction via Diffusion Policy Learning
by: Mozaffari, Salma, et al.
Published: (2025)

Passivity-Centric Safe Reinforcement Learning for Contact-Rich Robotic Tasks
by: Zhang, Heng, et al.
Published: (2025)

Sensorless Estimation of Contact Using Deep-Learning for Human-Robot Interaction
by: Shan, Shilin, et al.
Published: (2023)

Force Sensing for Wearable Human-Robot Interfaces via Fluidic Innervation
by: Rubin, Noah, et al.
Published: (2026)

Learning to Act Through Contact: A Unified View of Multi-Task Robot Learning
by: Omar, Shafeef, et al.
Published: (2025)

ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
by: Bratta, Angelo, et al.
Published: (2022)

Safe Learning for Contact-Rich Robot Tasks: A Survey from Classical Learning-Based Methods to Safe Foundation Models
by: Zhang, Heng, et al.
Published: (2025)

Sample-Based Hybrid Mode Control: Asymptotically Optimal Switching of Algorithmic and Non-Differentiable Control Modes
by: Liu, Yilang, et al.
Published: (2025)

Improving Robotic Manipulation with Efficient Geometry-Aware Vision Encoder
by: Vuong, An Dinh, et al.
Published: (2025)

Improving Traffic Signal Data Quality for the Waymo Open Motion Dataset
by: Yan, Xintao, et al.
Published: (2025)

ARCH: Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly
by: Sun, Jiankai, et al.
Published: (2024)

Learning Human Preferences Over Robot Behavior as Soft Planning Constraints
by: Narcomey, Austin, et al.
Published: (2024)

Differentiable Simulation of Soft Robots with Frictional Contacts
by: Ménager, Etienne, et al.
Published: (2025)

OCELOT: Odometry and Contact Estimation for Legged Robots
by: Girgin, Emre, et al.
Published: (2026)

Contact Models in Robotics: a Comparative Analysis
by: Lidec, Quentin Le, et al.
Published: (2023)

Physically-Consistent Parameter Identification of Robots in Contact
by: Khorshidi, Shahram, et al.
Published: (2024)

CTBC: Contact-Triggered Blind Climbing for Wheeled Bipedal Robots with Instruction Learning and Reinforcement Learning
by: Li, Rankun, et al.
Published: (2025)

Adaptive Motion Planning via Contact-Based Intent Inference for Human-Robot Collaboration
by: Song, Jiurun, et al.
Published: (2025)

GRIP: A General Robotic Incremental Potential Contact Simulation Dataset for Unified Deformable-Rigid Coupled Grasping
by: Ma, Siyu, et al.
Published: (2025)

RAnGE: Reachability Analysis for Guaranteed Ergodicity
by: Berger, Henry, et al.
Published: (2024)