Author

Jonathan Francis

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Preprint Oct 2026

SkillWeave: Weaving Heterogeneous Demonstrations into Long-Horizon Manipulation Skills

Dexterous manipulation requires both large-scale task progression and precise contact-rich interaction, making it challenging to collect demonstrations that effectively support both regimes. We present SkillWeave, a heterogeneous demonstration framework for long-horizon dexterous manipulation that combines teleoperatio...

Ryosei Tamura, Xiao-Xiang Dong, Uksang Yoo et al. · 1 citation

Preprint Aug 2026

ScenarioCharacterization: A Modular Toolkit for Characterizing Safety across Trajectory Datasets

We introduce ScenarioCharacterization, an open-source framework for automated, dataset-agnostic profiling of driving scenarios in trajectory datasets. Our framework is packaged as a modular, configuration-driven pipeline of three layers: a dataset adapter that maps custom datasets onto an open Scenario representation,...

Ingrid Navarro, Yutong Duan, Jonathan Francis et al. · 1 citation

Jul 2026

GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks

Graph-as-Policy (GaP) is introduced, a multi-agent coding harness that generates directed computation graphs with perception, planning, and control nodes from a Modular Open Robot Skill Library (MORSL), and can achieve success rates that significantly outperform baselines.

Kai-Peng Chen, Shuang-Yu Xie, Letian Fu et al. · arXiv.org · 2 citations