AIBullisharXiv – CS AI · Mar 46/102
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How to Peel with a Knife: Aligning Fine-Grained Manipulation with Human Preference
Researchers developed a two-stage learning framework enabling robots to perform complex manipulation tasks like food peeling with over 90% success rates. The system combines force-aware imitation learning with human preference-based refinement, achieving strong generalization across different produce types using only 50-200 training examples.