7 papers · 1 filter
VTAM: Video-Tactile-Action Models for Complex Physical Interaction Beyond VLAs
Haoran Yuan, Weigang Yi, Zhenyu Zhang +9
Video-Action Models (VAMs) have emerged as a promising framework for embodied intelligence, learning implicit world dynamics from raw video streams to produce temporally consistent…
RoboPocket: Improve Robot Policies Instantly with Your Phone
Junjie Fang, Wendi Chen, Han Xue +7
Scaling imitation learning is fundamentally constrained by the efficiency of data collection. While handheld interfaces have emerged as a scalable solution for in-the-wild data acq…
Rethinking Camera Choice: An Empirical Study on Fisheye Camera Properties in Robotic Manipulation
Han Xue, Nan Min, Xiaotong Liu +5
The adoption of fisheye cameras in robotic manipulation, driven by their exceptionally wide Field of View (FoV), is rapidly outpacing a systematic understanding of their downstream…
SOE: Sample-Efficient Robot Policy Self-Improvement via On-Manifold Exploration
Yang Jin, Jun Lv, Han Xue +3
Intelligent agents progress by continually refining their capabilities through actively exploring environments. Yet robot policies often lack sufficient exploration capability due…
Right-Side-Out: Learning Zero-Shot Sim-to-Real Garment Reversal
Chang Yu, Siyu Ma, Wenxin Du +9
Turning garments right-side out is a challenging manipulation task: it is highly dynamic, entails rapid contact changes, and is subject to severe visual occlusion. We introduce Rig…
Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation
Han Xue, Jieji Ren, Wendi Chen +5
Humans can accomplish complex contact-rich tasks using vision and touch, with highly reactive capabilities such as fast response to external changes and adaptive control of contact…