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RoboIRS: Inference-Time Internal Representation Steering for Generalist Robot Policies
Jiuzhou Lei, Chang Liu, Dayou Li +5
Vision-language-action (VLA) and world-action models (WAMs) often degrade under out-of-distribution task variations despite retaining partial task capability. To recover such capab…
PHR-VLA: Planning Horizon Reasoning for Vision-Language-Action Models
Davood Soleymanzadeh, Kaidi Zhang, Zhiyuan Zhang +4
Vision-language-action models (VLAs) have shown strong promise for general-purpose robotic manipulation by mapping language instructions and vision observations directly to actions…
TAC-LOCO: Unified Whole-Body Control for Quadrupedal TACtile-Informed LOCO-Manipulation
Muqun Hu, Yuhao Zhou, Kabir Ray Malik +4
Dynamic loco-manipulation requires legged robots to coordinate whole-body motion while maintaining stable physical interaction with grasped objects under uncertain external forces.…
Imagining the Sense of Touch: Touch-Informed Manipulation via Imagined Tactile Representations
Zhiyuan Zhang, Adeesh Desai, Jyun-Chi Hu +7
Tactile sensing can substantially improve contact-rich robotic manipulation, yet its practical deployment remains limited by the fragility, calibration requirements, and maintenanc…
ContactWorld: What Representations Matter for Vision-Tactile Latent World Models in Contact-Rich Manipulation
Zhiyuan Zhang, Pokuang Zhou, Kaidi Zhang +7
Contact-rich manipulation poses a fundamental challenge for world models: visual and tactile observations capture different aspects of physical interaction, and their utility depen…
Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies
Pokuang Zhou, Yuhao Zhou, Quan Khanh Luu +7
Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone c…
Learning When to See and When to Feel: Adaptive Vision-Torque Fusion for Contact-Aware Manipulation
Jiuzhou Lei, Chang Liu, Yu She +2
Vision-based policies have achieved a good performance in robotic manipulation due to the accessibility and richness of visual observations. However, purely visual sensing becomes…
StemVLA:An Open-Source Vision-Language-Action Model with Future 3D Spatial Geometry Knowledge and 4D Historical Representation
Jiasong Xiao, Yutao She, Kai Li +2
Vision-language-action (VLA) models integrate visual observations and language instructions to predict robot actions, demonstrating promising generalization in manipulation tasks.…