15 citations · 29 across the 14 of their papers we have counts for
9 papers · 1 filter
Proprioceptive Sketches as Long-Horizon Intent for Generative Action Policies
Fangyuan Wang, Songhao Huang, Haoxiang Sun +5
Generative robot policies predict short action chunks but lack explicit long-horizon intent. Recent methods expose longer-horizon structure through language plans, subgoal images,…
Robot-GST: geometry-aware spatial-temporal robot policy representation and evaluation
Sichao Liu, Zekun Wang, Lixuan Tang +6
Robotic manipulation policies are advancing rapidly with increasing reliance on vision-language models for end-to-end decision making. However, reliable deployment remains challeng…
Achieve What You Imagined: Learning to Align Actions with Visual Plans
Yuheng Qiao, Ziran Wei, Xiaohan Wang +5
World-action models can jointly predict future visual observations and robot actions. However, discrepancies may exist between their visual predictions and the consequences implied…
CAMP: Cooperative Arm-Hand Motion Planning in Constrained Spaces
Ziyuan Wang, Yunlong Shan, Fei Mo +6
Coordinated arm-hand motion planning is fundamental to dexterous robotic manipulation in complex and constrained environments. A straightforward solution is to decompose the proble…
CALM: Current Aligned Link Manipulation for Single Arm Oversized Object Lifting
Jun Hu, Sihan Chen, Kosta Jovanovic +4
Most robots manipulate objects solely with their end effectors, whereas humans flexibly leverage different body parts, such as the forearm and elbow, especially when handling overs…
Phase-and-First-Arrival VLM Feedback for Sparse-Reward Reinforcement Learning in Surgical Manipulation
Wanli Liuchen, Fangyuan Wang, Bin Li +4
Sparse outcome feedback limits what robots can learn from unsuccessful attempts at complex manipulation. Failed multi-stage surgical attempts can contain grasps, lifts, or transfer…
Dressing in Motion: A Human Motion-Aware Diffusion Policy for Robot-Assisted Dressing
Haoxiang Sun, Fangyuan Wang, Songhao Huang +4
Robotic dressing assistance is a promising solution for supporting older adults with physical impairments in daily living. However, dressing under human motion remains challenging,…
Vision-Based Tactile Intelligence for Robotics: Sensing, Learning, and Embodied Manipulation
Peng Zhou, Jun Hu, Sihan Chen +12
Tactile sensing is essential for robots in contact-rich tasks, yet many tactile sensors still provide sparse, low-dimensional signals that do not capture sufficient information for…
Think Proprioceptively: State-Grounded Visual Token Selection for VLA Policies
Fangyuan Wang, Peng Zhou, Jiaming Qi +4
Vision-language-action (VLA) models typically inject proprioception only as a late conditioning signal, preventing robot state from grounding instruction understanding or directing…