4 papers
ReTouch: Empowering Contact-Rich Dexterous Manipulation with Online-Refined Tactile Prediction
Shiqi Zhang, Xin Zhang, Yedong Shen +9
Fusing tactile signals has proven effective for contact-rich manipulation, enabling robots to perceive contact states and adapt to rapidly changing physical interactions. Yet effec…
ViCo3D: Empowering LiDAR-based Collaborative 3D Object Detection with Vision Foundation Models
Haojie Ren, Songrui Luo, Lingfeng Wang +6
LiDAR-based collaborative 3D perception in Vehicle-to-Everything (V2X) systems typically relies on fusing bird's-eye-view (BEV) features across agents. However, current BEV represe…
FAVLA: A Force-Adaptive Fast-Slow VLA model for Contact-Rich Robotic Manipulation
Yao Li, Peiyuan Tang, Wuyang Zhang +7
Force/torque feedback can substantially improve Vision-Language-Action (VLA) models on contact-rich manipulation, but most existing approaches fuse all modalities at a single opera…
CELLmap: Enhancing LiDAR SLAM through Elastic and Lightweight Spherical Map Representation
Yifan Duan, Xinran Zhang, Yao Li +4
SLAM is a fundamental capability of unmanned systems, with LiDAR-based SLAM gaining widespread adoption due to its high precision. Current SLAM systems can achieve centimeter-level…