4 papers
Imperfection for Precision: Upcycling Imperfect Data for High-Precision Robotic Manipulation
Hao Wei, Yang Liu, Chao Tang +7
Training vision-language-action (VLA) models for high-precision manipulation typically requires task-specific, high-quality data (e.g., teleoperation), which is slow and expensive…
PSR: Predictive Sensorimotor Representation Learning for Contact-Rich Manipulation
Shengbao Li, Peng Xu, Chao Tang +8
Contact-rich manipulation requires policies to generate precise actions by reasoning over contact forces, robot configurations, and interaction histories beyond visual observations…
ShapeForce: Low-Cost Soft Robotic Wrist for Contact-Rich Manipulation
Jinxuan Zhu, Zihao Yan, Yangyu Xiao +5
Contact feedback is essential for contact-rich robotic manipulation, as it allows the robot to detect subtle interaction changes and adjust its actions accordingly. Six-axis force-…
Learning Generalizable Language-Conditioned Cloth Manipulation from Long Demonstrations
Hanyi Zhao, Jinxuan Zhu, Zihao Yan +3
Multi-step cloth manipulation is a challenging problem for robots due to the high-dimensional state spaces and the dynamics of cloth. Despite recent significant advances in end-to-…