13 citations · 44 across the 15 of their papers we have counts for
3 papers · 1 filter
Demonstration Calibrated Port-Hamiltonian Retuning for Manipulation Policies
Yulong Yang, Fan Wu, Christine Allen-Blanchette +1
Diffusion and VLA policies for manipulation are often deployed through downstream impedance controllers. The stiffness and damping gains of these controllers affect task success, y…
VT-Bridge: Bridging Pretrained Foundation VLAs to VTLAs via Lightweight Residual Adaptation
Yansong Wu, Tuo Yang, Rongping Zhao +5
Vision-Tactile-Language-Action (VTLA) models have demonstrated clear advantages over Vision-Language-Action (VLA) models in contact-rich manipulation. However, developing VTLA mode…
TacUMI: A Multi-Modal Universal Manipulation Interface for Contact-Rich Tasks
Tailai Cheng, Kejia Chen, Lingyun Chen +8
Task decomposition is critical for understanding and learning complex long-horizon manipulation tasks. Especially for tasks involving rich physical interactions, relying solely on…