17 papers
A Closed-Loop Multi-Agent Framework for Robust Multi-Robot Manipulation
Yi-Xiang He, Lan Wei, Haoming Cen +6
Multi-robot systems provide the parallelism and redundancy necessary for long-horizon tasks, while Large Language Models (LLMs) offer the reasoning capabilities to decompose these…
TacEvo: Self-Evolving Architecture Discovery for Robotic Tactile Perception via LLM-Driven Quality-Diversity Search
Mohammed AbuSadeh, Lan Wei, Dandan Zhang
Vision-based tactile sensing converts contact-induced surface deformation into images, enabling robots to infer contact forces and fine surface textures that are not accessible thr…
TacVerse: A Multi-Sensor Dataset and Benchmark for Cross-Sensor Vision-Based Tactile Perception
Lan Wei, Gurmeher Khurana, Sirine Bhouri +6
Vision-based tactile sensors (VBTSs) enable robots to infer contact geometry and force-related cues by imaging deformation through an internal camera, yet generalisation across sen…
Task Editing for Generalizable 3D Visuomotor Policy Learning
Jian-Jian Jiang, YiHan Yang, Lan Wei +6
3D visuomotor policies offer a promising direction for complex robotic manipulation, as depth maps and point clouds provide rich geometric information for spatial reasoning. Howeve…
Mag-VLA: Vision-Language-Action Model for Bimanual Magnetically Actuated Microrobot Manipulation
Yongchen Wang, Kangyi Lu, Lan Wei +1
Magnetically actuated microrobots have been used as wireless, non-contact manipulation tools at microscales, making them promising for minimally invasive applications. However, the…
A Digital Twin Framework for Virtual Visuo-Haptic Teleoperation of Complex-Shaped Optical Microrobots
Zongcai Tan, Lan Wei, Dandan Zhang
Optical tweezers (OT) provide piconewton-scale manipulation for delicate biomedical tasks, where visuo-haptic feedback can improve operator awareness by conveying interaction-force…