15 papers · 1 filter
RefGuard: Identity-Aware Language-Guided Robot Manipulation via Joint Target-Anchor-Frame Grounding
Lan Wei, Kangyi Lu, Yongchen Wang +5
Vision-language-action (VLA) models have substantially advanced language-guided robot manipulation, yet reliable execution still hinges on identifying which physical object an inst…
Bridging Semantics and Physics with Constrained LLMs for Safe and Trustworthy Robotic Manipulation
Wenhao Hong, Lan Wei, Dandan Zhang
A language-guided robot operating in a real kitchen must do more than produce a plan that appears correct. It must also execute that plan safely in cluttered environments under imp…
SoftVTBench: A Deformation-Aware Visuo-Tactile Dataset and Benchmark for Deformable-Object Manipulation
Bowen Jing, Mingxin Wang, Ruiyang Hao +15
Physical interaction quality is central to deformable-object manipulation, yet most benchmarks evaluate task success alone. A policy may complete the task while allowing slip or ca…
SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects (Early Version)
Bowen Jing, Mingxin Wang, Ruiyang Hao +15
Deformable object manipulation poses challenges beyond task completion: successful execution must also maintain safe physical interaction, holding the object stably without slip or…
TacEvo: Self-Evolving Architecture Discovery for Robotic Tactile Perception via LLM-Driven Quality-Diversity Search
Mohammed AbuSadeh, Lan Wei, Dandan Zhang
Vision-based tactile sensing converts contact-induced surface deformation into images, enabling robots to infer contact forces and fine surface textures that are not accessible thr…
TacVerse: A Multi-Sensor Dataset and Benchmark for Cross-Sensor Vision-Based Tactile Perception
Lan Wei, Gurmeher Khurana, Sirine Bhouri +6
Vision-based tactile sensors (VBTSs) enable robots to infer contact geometry and force-related cues by imaging deformation through an internal camera, yet generalisation across sen…