6 papers
Towards Reliable Sequential Object Picking in Clutter: The Runner-up Solution to RGMC 2025
Wei Yu, Xidan Zhang, Ziyi Zheng +2
As a long-standing challenge in robotic manipulation, stable and efficient grasping in cluttered environments is of great importance in industrial settings. While recent studies ha…
Mobile UMI: Cross-View Diffusion Policy with Decoupled Kinematics for Mobile Manipulation
Haoran Huang, Haonan Dong, Huixu Dong
Mobile imitation learning on portable demonstration interfaces faces two coupled bottlenecks: locomotion-contaminated action labels and inference-induced execution latency on a con…
AffordVLA: Injecting Affordance Representations into Vision-Language-Action Models via Implicit Feature Alignment
Weijie Kong, Zhian Su, Wei Yu +1
Recent advances in Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation. However, the visual representations of most VLA models…
SID: Sliding into Distribution for Robust Few-Demonstration Manipulation
Yicheng Ma, Wei Yu, Zhian Su +2
Generalizing robotic manipulation across object poses, viewpoints, and dynamic disturbances is difficult, especially with only a few demonstrations. End-to-end visuomotor policies…
TacMamba: A Tactile History Compression Adapter Bridging Fast Reflexes and Slow VLA Reasoning
Zhenan Wang, Yanzhe Wang, Meixuan Ren +8
In visually ambiguous manipulation such as detecting button click tactile feedback is often the sole source of ground truth. However, fusing tactile data poses a significant challe…
IG-RFT: An Interaction-Guided RL Framework for VLA Models in Long-Horizon Robotic Manipulation
Zhian Su, Weijie Kong, Haonan Dong +1
Vision-Language-Action (VLA) models have demonstrated significant potential for generalist robotic policies; however, they struggle to generalize to long-horizon complex tasks in n…