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cs.RO2026
TAPNAV: Humanoid Navigation through Tactile Active Perception
Huaze Liu, Zhenyu Wu, Jaehwi Jang +8
Navigation in vision-denied environments is challenging for humanoid robots because proprioceptive odometry drifts and localization uncertainty accumulates rapidly. We present TAPN…
cs.RO2026
Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulation
Fukang Liu, Yipu Chen, Jaehwi Jang +3
Humanoid robots are expected to perform diverse human-level tasks in daily environments, many of which require precise regulation of interaction forces. While recent vision-languag…
cs.RO2026
WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning
Jaehwi Jang, Zhaoyuan Gu, Alfred Cueva +15
Whole-body humanoid manipulation of bulky, deformable, and shared-load objects requires distributed contact sensing and explicit force regulation, yet most imitation policies treat…