2 papers
cs.AI2026
RoboPIN: Grounded Embodied Reasoning via Pinned Chain-of-Thought
Yaoting Huang, Yifu Yuan, Linqi Han +6
Embodied reasoning requires models to perceive task-relevant objects and spaces in physical environments and maintain consistent visual grounding throughout multi-step reasoning. H…
cs.RO2026
ForceFlow: Learning to Feel and Act via Contact-Driven Flow Matching
Shuoheng Zhang, Yifu Yuan, Hongyao Tang +7
Existing imitation learning methods enable robots to interact autonomously with the physical environment. However, contact-rich manipulation tasks remain a significant challenge du…