4 papers
TacCoRL: Integrating Tactile Feedback into VLA via Simulation
Siyu Ma, Yuqi Liang, Chang Yu +5
Vision-language-action (VLA) models provide strong visual, language, and action priors for robot manipulation, but visual observations alone often miss the local contact state requ…
Dexora: Open-source VLA for High-DoF Bimanual Dexterity
Zongzheng Zhang, Jingrui Pang, Zhuo Yang +22
Vision-Language-Action (VLA) models have recently become a central direction in embodied AI, but current systems are restricted to either dual-gripper control or single-arm dextero…
Toward Visually Realistic Simulation: A Benchmark for Evaluating Robot Manipulation in Simulation
Yixin Zhu, Zixiong Wang, Jian Yang +4
Reliable simulation evaluation of robot manipulation policies serves as a high-fidelity proxy for real-world performance. Although existing benchmarks cover a wide range of task ca…
Scalable Trajectory Generation for Whole-Body Mobile Manipulation
Yida Niu, Xinhai Chang, Xin Liu +2
Robots deployed in unstructured environments must coordinate whole-body motion -- simultaneously moving a mobile base and arm -- to interact with the physical world. This coupled m…