9 papers
Imagining the Sense of Touch: Touch-Informed Manipulation via Imagined Tactile Representations
Zhiyuan Zhang, Adeesh Desai, Jyun-Chi Hu +7
Tactile sensing can substantially improve contact-rich robotic manipulation, yet its practical deployment remains limited by the fragility, calibration requirements, and maintenanc…
DREAM-Chunk: Reactive Action Chunking with Latent World Model
Wenxi Chen, Kaidi Zhang, Chi Lin +6
Action chunking has become a common interface for vision-language-action (VLA) models, enabling low-frequency policy inference to drive high-frequency robot execution. However, onc…
ReactSim-Bench: Benchmarking Reactive Behavior World Model Simulation in Autonomous Driving
Zhiyuan Zhang, Yanlun Peng, Jianing Zhang +7
Reactive capability is a key property of data-driven behavior world model simulators for autonomous driving simulation systems. With this capability, simulated world agents can res…
ContactWorld: What Matters in Vision-Tactile World Models for Contact-Rich Manipulation
Zhiyuan Zhang, Pokuang Zhou, Kaidi Zhang +6
Contact-rich manipulation requires world models to reason over complex contact dynamics from multimodal sensory observations. However, it remains unclear which representation prope…
TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation
Kaidi Zhang, Heng Zhang, Zhengtong Xu +7
Vision-Language-Action (VLA) models have demonstrated significant advantages in robotic manipulation. However, their reliance on vision and language often leads to suboptimal perfo…
EquiBim: Learning Symmetry-Equivariant Policy for Bimanual Manipulation
Zhiyuan Zhang, Aditya Mohan, Seungho Han +3
Robotic imitation learning has achieved impressive success in learning complex manipulation behaviors from demonstrations. However, many existing robot learning methods do not expl…