From the 1 of 17 linked papers with an AI index.
5 papers · 1 filter
ReTouch: Empowering Contact-Rich Dexterous Manipulation with Online-Refined Tactile Prediction
Shiqi Zhang, Xin Zhang, Yedong Shen +9
Fusing tactile signals has proven effective for contact-rich manipulation, enabling robots to perceive contact states and adapt to rapidly changing physical interactions. Yet effec…
GEAR-VLA: Learning Geometry-Aware Action Representations for Generalizable Robotic Manipulation
Yuan Zhang, Shiqi Zhang, Yedong Shen +11
Vision-Language-Action (VLA) models achieve strong benchmark performance but still struggle in real-world deployment with unseen objects, background shifts, and different robot emb…
Drift-Based Policy Optimization: Native One-Step Policy Learning for Online Robot Control
Yuxuan Gao, Yedong Shen, Shiqi Zhang +6
Although multi-step generative policies achieve strong performance in robotic manipulation by modeling multimodal action distributions, they require multi-step iterative denoising…
Learning Surgical Robotic Manipulation with 3D Spatial Priors
Yu Sheng, Lidian Wang, Xiaomeng Chu +6
Achieving 3D spatial awareness is crucial for surgical robotic manipulation, where precise and delicate operations are required. Existing methods either explicitly reconstruct the…
GraspCoT: Integrating Physical Property Reasoning for 6-DoF Grasping under Flexible Language Instructions
Xiaomeng Chu, Jiajun Deng, Guoliang You +4
Flexible instruction-guided 6-DoF grasping is a significant yet challenging task for real-world robotic systems. Existing methods utilize the contextual understanding capabilities…