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PhysMem: Scaling Test-Time Memory for Embodied Physical Reasoning
Haoyang Li, Yang You, Hao Su +1
Reliable object manipulation requires understanding physical properties that vary across objects and environments. Vision-language model (VLM) planners can reason about friction an…
TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance
Zhemeng Zhang, Jiahua Ma, Xincheng Yang +13
Fine-grained and contact-rich manipulation remain challenging for robots, largely due to the underutilization of tactile feedback. To address this, we introduce TouchGuide, a novel…
House of Dextra: Cross-embodied Co-design for Dexterous Hands
Kehlani Fay, Darin Anthony Djapri, Anya Zorin +6
Dexterous manipulation is limited by both control and design, without consensus as to what makes manipulators best for performing dexterous tasks. This raises a fundamental challen…
Bridging Embodiment Gaps: Deploying Vision-Language-Action Models on Soft Robots
Haochen Su, Cristian Meo, Francesco Stella +3
Robotic systems are increasingly expected to operate in human-centered, unstructured environments where safety, adaptability, and generalization are essential. Vision-Language-Acti…
Seeing the Bigger Picture: 3D Latent Mapping for Mobile Manipulation Policy Learning
Sunghwan Kim, Woojeh Chung, Zhirui Dai +5
In this paper, we demonstrate that mobile manipulation policies utilizing a 3D latent map achieve stronger spatial and temporal reasoning than policies relying solely on images. We…
LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrations
Weikang Wan, Jiawei Fu, Xiaodi Yuan +2
Developing robotic systems capable of robustly executing long-horizon manipulation tasks with human-level dexterity is challenging, as such tasks require both physical dexterity an…
Passage-traversing optimal path planning with sampling-based algorithms
Jing Huang, Hao Su, Kwok Wai Samuel Au
This paper introduces a new paradigm of optimal path planning, i.e., passage-traversing optimal path planning (PTOPP), that optimizes paths' traversed passages for specified optimi…
ManiTaskGen: A Comprehensive Task Generator for Benchmarking and Improving Vision-Language Agents on Embodied Decision-Making
Liu Dai, Haina Wang, Weikang Wan +1
Building embodied agents capable of accomplishing arbitrary tasks is a core objective towards achieving embodied artificial general intelligence (E-AGI). While recent work has adva…
ManiSkill-ViTac 2025: Challenge on Manipulation Skill Learning With Vision and Tactile Sensing
Chuanyu Li, Renjun Dang, Xiang Li +8
This article introduces the ManiSkill-ViTac Challenge 2025, which focuses on learning contact-rich manipulation skills using both tactile and visual sensing. Expanding upon the 202…