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cs.RO2026
VISTA: Visually Inferred Spatial ConTact Attention for Contact-Rich Manipulation
Jiayi Chen, Wenlong Dong, Yan Huang +5
Contact-rich manipulation requires precise interaction feedback. While vision-centric imitation learning is prevalent, external visual observations provide indirect and ambiguous c…
cs.RO2026
UniReflex: Plug-and-Play Force Control for Pretrained Generative Policies via Fast-Slow Reflex
Yan Huang, Shoujie Li, Ziwu Song +1
Generative imitation learning policies excel at trajectory planning but lack closed-loop force regulation, while directly incorporating force modalities often requires redesigning…
cs.RO2026
Towards Trustworthy Embodied Intelligence: A Systems Framework and Graded Trustworthiness Levels
Xinyu Yang, Tianxing Chen, Honghao Su +38
Embodied intelligence integrates learned perception and decision making with real-time computation, control, and physical interaction. Because failures can cause immediate physical…