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cs.RO2026
Foresight: Failure Detection for Long-Horizon Robotic Manipulation with Action-Conditioned World Model Latents
Haoran Zhang, Yifu Lu, Boyang Wang +5
Long-horizon tasks are common in real-world robotic deployments, yet failure detection for such tasks remains underexplored. Detecting failures in long-horizon robotic tasks is par…
cs.CV2026
TBD-VLA: Temporal Block Diffusion Vision Language Action Model
Sung-Wook Lee, Xuhui Kang, Yen-Ling Kuo
Discrete Vision-Language-Action (VLA) models typically formulate action generation as next-token prediction over discretized action spaces, conditioning each token autoregressively…
cs.RO2026
Learning Force-Regulated Robotic Manipulation with a Low-Cost Tactile-Force-Controlled Gripper
Xuhui Kang, Tongxuan Tian, Sung-Wook Lee +3
Successfully manipulating many everyday objects, such as potato chips, requires precise force regulation. Failure to modulate force can lead to task failure or irreversible damage…