Bridging Handheld and Teleoperated Supervision for Contact-Rich Manipulation via State-Gated Experts
Published in CoRL 2026 (pending acceptance), 2026
Recommended citation: Surendran, V., Peri, N., & Watkins, D. (2026). Bridging Handheld and Teleoperated Supervision for Contact-Rich Manipulation via State-Gated Experts. Conference on Robot Learning (CoRL). (Pending acceptance) https://nperi-rai.github.io/bridge-project/
Abstract
BRIDGE combines handheld and teleoperated data collection for robotic manipulation using a mixture-of-experts approach that routes between specialist task-phase heads conditioned on the current robot state. This state-gating improves success rates by up to 36.7% over handheld-only baselines on contact-rich tasks.
Project page, code, and datasets: nperi-rai.github.io/bridge-project. Work with Vidullan Surendran and Neehar Peri (RAI Institute, Carnegie Mellon University).