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cs.RO2025
ArtGS:3D Gaussian Splatting for Interactive Visual-Physical Modeling and Manipulation of Articulated Objects
Qiaojun Yu, Xibin Yuan, Yu jiang +8
Articulated object manipulation remains a critical challenge in robotics due to the complex kinematic constraints and the limited physical reasoning of existing methods. In this wo…
cs.RO2025
ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulation
Jiawen Yu, Hairuo Liu, Qiaojun Yu +9
Vision-Language-Action (VLA) models have advanced general-purpose robotic manipulation by leveraging pretrained visual and linguistic representations. However, they struggle with c…