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cs.RO2026
Equivariant Visual-Tactile Diffusion Policy for Contact-Rich Manipulation
Lik Hang Kenny Wong, Yiyao Ma, Xiu-Shen Wei +5
Imitation learning for contact-rich manipulation requires high-quality expert data that is expensive to obtain. This makes learning a sample-efficient policy a key issue. To addres…
cs.RO2026
Real-time Monocular 2D and 3D Perception of Endoluminal Scenes for Controlling Flexible Robotic Endoscopic Instruments
Ruofeng Wei, Kai Chen, Yui Lun Ng +7
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robot…
cs.RO2025
Contact Map Transfer with Conditional Diffusion Model for Generalizable Dexterous Grasp Generation
Yiyao Ma, Kai Chen, Kexin Zheng +1
Dexterous grasp generation is a fundamental challenge in robotics, requiring both grasp stability and adaptability across diverse objects and tasks. Analytical methods ensure stabl…