3 papers
cs.RO2026
Pelican-VLA 0.5: Attending Before Acting Benefits Generalization
Zeyuan Ding, Wenhai Liu, Yang Xu +6
In this report, we present Pelican-VLA 0.5, a unified VLA model that integrates vision-language understanding, future-frame generation, and action prediction within a single archit…
cs.RO2026
ExoGS: A 4D Real-to-Sim-to-Real Framework for Scalable Manipulation Data Collection
Yiming Wang, Ruogu Zhang, Minyang Li +7
Real-to-Sim-to-Real technique is gaining increasing interest for robotic manipulation, as it can generate scalable data in simulation while having narrower sim-to-real gap. However…
cs.RO2024
ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation
Wenhai Liu, Junbo Wang, Yiming Wang +2
In most contact-rich manipulation tasks, humans apply time-varying forces to the target object, compensating for inaccuracies in the vision-guided hand trajectory. However, current…