{"id":"https://openalex.org/W7166865160","doi":"https://doi.org/10.48550/arxiv.2606.30988","title":"Multisensory Continual Learning: Adapting Pretrained Visuomotor Policies to Force","display_name":"Multisensory Continual Learning: Adapting Pretrained Visuomotor Policies to Force","publication_year":2026,"publication_date":"2026-06-29","ids":{"openalex":"https://openalex.org/W7166865160","doi":"https://doi.org/10.48550/arxiv.2606.30988"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.30988","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.30988","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.30988","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113373789","display_name":"Jaden Clark","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Clark, Jaden","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139767014","display_name":"Changhao Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Changhao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123631623","display_name":"Yihuai Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Yihuai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121326358","display_name":"Seongheon Hong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hong, Seongheon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139754449","display_name":"Hojung Choi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Choi, Hojung","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106052082","display_name":"M. R. Cutkosky","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cutkosky, Mark","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139802661","display_name":"Yifan Hou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hou, Yifan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139784562","display_name":"Shuran Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Shuran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7846999764442444,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7846999764442444,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.07699999958276749,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.0478999987244606,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.7202000021934509},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5281000137329102},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.4909999966621399},{"id":"https://openalex.org/keywords/stimulus-modality","display_name":"Stimulus modality","score":0.4438999891281128},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3734000027179718},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.3343999981880188}],"concepts":[{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.7202000021934509},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7178999781608582},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5281000137329102},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5166000127792358},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.4909999966621399},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.48730000853538513},{"id":"https://openalex.org/C26486553","wikidata":"https://www.wikidata.org/wiki/Q371870","display_name":"Stimulus modality","level":3,"score":0.4438999891281128},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3734000027179718},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.3343999981880188},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.31459999084472656},{"id":"https://openalex.org/C94487597","wikidata":"https://www.wikidata.org/wiki/Q11101","display_name":"Sensory system","level":2,"score":0.30660000443458557},{"id":"https://openalex.org/C60115397","wikidata":"https://www.wikidata.org/wiki/Q5188732","display_name":"Crossmodal","level":4,"score":0.28690001368522644},{"id":"https://openalex.org/C111370547","wikidata":"https://www.wikidata.org/wiki/Q7451120","display_name":"Sensory cue","level":2,"score":0.28209999203681946},{"id":"https://openalex.org/C2780328332","wikidata":"https://www.wikidata.org/wiki/Q17166073","display_name":"Multisensory integration","level":3,"score":0.2603999972343445}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.30988","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.30988","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.30988","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.30988","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robot":[0],"manipulation":[1,128],"often":[2,33],"relies":[3],"on":[4,126,137,149],"sensory":[5],"feedback":[6],"beyond":[7,167],"vision,":[8],"particularly":[9],"in":[10,144],"contact-rich":[11,138],"settings":[12],"where":[13],"force,":[14],"tactile,":[15],"or":[16],"audio":[17],"signals":[18],"reveal":[19],"interaction":[20],"states":[21],"that":[22,133,157],"are":[23,32],"not":[24],"directly":[25],"observable":[26],"from":[27],"images.":[28],"However,":[29],"these":[30],"modalities":[31,75],"hardware-":[34],"and":[35,37,105,123,143],"task-specific,":[36],"large-scale":[38],"multisensory":[39,61,93,102,160],"robot":[40,67,165],"datasets":[41],"remain":[42],"scarce.":[43],"As":[44],"a":[45,65,116,158],"result,":[46],"it":[47,125],"is":[48],"impractical":[49],"to":[50,69],"pretrain":[51],"policies":[52,98],"with":[53,72,120],"every":[54],"sensor":[55,82],"they":[56],"may":[57],"encounter.":[58],"We":[59,84,111],"study":[60],"continual":[62],"learning:":[63],"adapting":[64],"pretrained":[66,96,117],"policy":[68,119],"new":[70],"tasks":[71,140],"newly":[73],"introduced":[74],"while":[76,141],"preserving":[77],"performance":[78,148],"under":[79],"the":[80,150,168],"original":[81,151],"suite.":[83],"propose":[85],"MultiSensory":[86],"World":[87],"Model":[88],"(MuSe),":[89],"which":[90],"incorporates":[91],"limited":[92],"data":[94],"into":[95],"vision-only":[97,118],"through":[99],"multi-stage":[100],"fusion,":[101],"future":[103],"prediction,":[104],"experience":[106],"replay":[107],"over":[108],"pretraining":[109,152],"data.":[110],"instantiate":[112],"MuSe":[113,134],"by":[114],"augmenting":[115],"force-torque":[121],"sensing":[122],"evaluate":[124],"real-world":[127],"tasks.":[129,153],"Our":[130],"experiments":[131],"show":[132],"performs":[135],"strongly":[136],"finetuning":[139,169],"preserving,":[142],"some":[145],"cases":[146],"improving,":[147],"These":[154],"results":[155],"suggest":[156],"modest":[159],"dataset":[161],"can":[162],"improve":[163],"general":[164],"capabilities":[166],"distribution.":[170],"Project":[171],"website:":[172],"https://jadenvc.github.io/multisensory-continual-learning/":[173]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-02T00:00:00"}