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cs.RO2026
Master Micro Residual Correction with Adaptive Tactile Fusion and Force-Mixed Control for Contact-Rich Manipulation
Xingting Li, Yifan Xie, Han Liu +4
Robotic contact-rich and fine-grained manipulation remains a significant challenge due to complex interaction dynamics and the competing requirements of multi-timescale control. Wh…
cs.RO2026
CEI: A Unified Interface for Cross-Embodiment Visuomotor Policy Learning in 3D Space
Tong Wu, Shoujie Li, Junhao Gong +4
Robotic foundation models trained on large-scale manipulation datasets have shown promise in learning generalist policies, but they often overfit to specific viewpoints, robot arms…
cs.RO2025
UMIGen: A Unified Framework for Egocentric Point Cloud Generation and Cross-Embodiment Robotic Imitation Learning
Yan Huang, Shoujie Li, Xingting Li +1
Data-driven robotic learning faces an obvious dilemma: robust policies demand large-scale, high-quality demonstration data, yet collecting such data remains a major challenge owing…