5 papers · 1 filter
VLA-Precision: Asymmetric Co-Bootstrapping for Efficient Real-World Online RL of Vision-Language-Action Models
Chenyu Su, Zhaolong Shen, Yuan Qian +8
Pretrained vision-language-action (VLA) models enable broad manipulation but remain unreliable in tasks demanding precision and repeatability. Applying real-world online reinforcem…
From Transparent Labware Segmentation to Collision Avoidance: A Real-Time Edge-Aware Perception Pipeline
Shijun Ding, Chen Qian, Weiwei Shang +1
This paper presents an edge-aware instance segmentation framework that enables real-time robotic collision avoidance with transparent laboratory glassware using purely visual perce…
TransDex: Pre-training Visuo-Tactile Policy with Point Cloud Reconstruction for Dexterous Manipulation of Transparent Objects
Fengguan Li, Yifan Ma, Chen Qian +2
Dexterous manipulation enables complex tasks but suffers from self-occlusion, severe depth noise, and depth information loss when manipulating transparent objects. To solve this pr…
A Novel Task-Driven Diffusion-Based Policy with Affordance Learning for Generalizable Manipulation of Articulated Objects
Hao Zhang, Zhen Kan, Weiwei Shang +1
Despite recent advances in dexterous manipulations, the manipulation of articulated objects and generalization across different categories remain significant challenges. To address…
CafkNet: GNN-Empowered Forward Kinematic Modeling for Cable-Driven Parallel Robots
Zeqing Zhang, Linhan Yang, Cong Sun +2
Cable-driven parallel robots (CDPRs) have gained significant attention due to their promising advantages. When deploying CDPRs in practice, the kinematic modeling is a key question…