Guided Streaming Stochastic Interpolant Policy
A principled inference-time guidance framework for streaming generative robot policies, enabling fast, reactive obstacle avoidance within the action chunk.
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SkillVLA: Tackling Combinatorial Diversity in Dual-Arm Manipulation via Skill Reuse
A dual-arm manipulation framework that enables skill reuse—recomposing learned single-arm skills into novel left–right pairings to tackle combinatorial diversity.
CAR Guidance: Staying On-Manifold under Compositional Rewards
We introduce a plug-and-play module that corrects off-manifold drift when guiding flow models with multiple rewards at inference time.
Heterogeneous Tactile Transformer (HTT)
A self-supervised tactile backbone that learns shared representations across heterogeneous tactile sensors, boosting perception and contact-rich manipulation—even with sensors unseen during pretraining.
CLeAR wins REAL-I 2026 Embodied AI Challenge!
CLeAR took Overall Champion at REAL-I 2026, the 1st Real-World Embodied AI Learning Challenge, held at ICRA 2026.
TOPO-Bench: Benchmarking Topological Mapping under Perceptual Aliasing
An open-source framework for evaluating topological mapping, with the first quantitative measure of dataset ambiguity (perceptual aliasing).
On-Manifold Guidance @ ICML'26
We are excited to share that a paper from CLeAR has been accepted to ICML 2026! Here’s a snapshot: Conflict-Aware Additive Guidance for Flow Models under Co...