Refinery: Active Fine-Tuning and Deployment-Time Optimization for Contact-Rich Policies

Bingjie Tang, Iretiayo Akinola, Jie Xu, Bowen Wen, Michael Lin, Dieter Fox, Gaurav Sukhatme, Fabio Ramos, Abhishek Gupta, Yashraj Narang

June, 2026

Type

Conference paper

Publication

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)