bimanual manipulation 1diffusion transformer 1multimodal integration 1parameter-efficient adapters 1robotic datasets 1tactile sensing 1
From the 1 of 3 linked papers with an AI index.
3 papers
cs.RO2026
DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter
Xukun Li, Yu Sun, Lei Zhang +10
The paper introduces DECO, a diffusion‑based transformer that separately processes vision, proprioception, and tactile inputs for bimanual dexterous robot manipulation, and include…
cs.RO2026
-EVA: Envision, Verify, and Act with Latent Interactive World Models
Zhenguo Sun, Yu Sun, Hande Huang +1
Embodied policies typically map current observations directly to actions, leaving candidate-action consequences implicit. World models provide predictive supervision, representatio…
cs.RO2026
MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation
Zhenguo Sun, Bo-Sheng Huang, Yibo Peng +9
Generalist humanoid motion trackers have recently achieved strong simulation metrics by scaling data and training, yet often remain brittle on hardware during sustained teleoperati…