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cs.RO2026
FAWAM: Force-Aware World Action Models for Closed-Loop Contact-Rich Manipulation
Haotian He, Zeyu Yan, Qipeng Liu +2
Force signals provide critical interaction cues for contact-rich robotic manipulation. However, existing methods mostly use force as an additional observation modality, without ful…
cs.RO2026
CLASH: Collision Learning via Augmented Sim-to-real Hybridization to Bridge the Reality Gap
Haotian He, Ning Guo, Siqi Shi +2
The sim-to-real gap, particularly in the inaccurate modeling of contact-rich dynamics like collisions, remains a primary obstacle to deploying robot policies trained in simulation.…