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cs.RO2026
ReTac-ACT: A State-Gated Vision-Tactile Fusion Transformer for Precision Assembly
Minchi Ruan, LiangQing Zhou, Hongtong Li +4
Precision assembly requires sub-millimeter corrections in contact-rich "last-millimeter" regions where visual feedback fails due to occlusion from the end-effector and workpiece. W…
cs.RO2026
From Flow to One Step: Real-Time Multi-Modal Trajectory Policies via Implicit Maximum Likelihood Estimation-based Distribution Distillation
Ju Dong, Liding Zhang, Lei Zhang +7
Generative policies based on diffusion and flow matching achieve strong performance in robotic manipulation by modeling multi-modal human demonstrations. However, their reliance on…
cs.RO2026
MetaWorld-X: Hierarchical World Modeling via VLM-Orchestrated Experts for Humanoid Loco-Manipulation
Yutong Shen, Hangxu Liu, Penghui Liu +6
Learning natural, stable, and compositionally generalizable whole-body control policies for humanoid robots performing simultaneous locomotion and manipulation (loco-manipulation)…