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Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation
Haoyuan Deng, Haichao Liu, Wenkai Guo +6
Real-world robotic assembly at sub-millimeter tolerances demands spatial precision, compliant interaction, and robustness to contact failures. We present Facet-0, a robotic foundat…
MAP-VLA: Memory-Augmented Prompting for Vision-Language-Action Model in Robotic Manipulation
Runhao Li, Wenkai Guo, Zhenyu Wu +5
Pre-trained Vision-Language-Action (VLA) models have achieved remarkable success in improving robustness and generalization for end-to-end robotic manipulation. However, these mode…
VLA-Reasoner: Empowering Vision-Language-Action Models with Reasoning via Online Monte Carlo Tree Search
Wenkai Guo, Guanxing Lu, Haoyuan Deng +3
Vision-Language-Action models (VLAs) achieve strong performance in general robotic manipulation tasks by scaling imitation learning. However, existing VLAs are limited to predictin…
SafeBimanual: Diffusion-based Trajectory Optimization for Safe Bimanual Manipulation
Haoyuan Deng, Wenkai Guo, Qianzhun Wang +2
Bimanual manipulation has been widely applied in household services and manufacturing, which enables the complex task completion with coordination requirements. Recent diffusion-ba…
VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning
Guanxing Lu, Wenkai Guo, Chubin Zhang +5
Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. Howeve…