7 papers
Unified Condition-Action Modeling for Accurate One-Step Action Generation
Xinyu Zhou, Zikun Cai, Kuangji Zuo +7
Robot manipulation requires policies that are both accurate and efficient, as robot control must respond to changing observations under tight latency constraints. Recent diffusion…
Physics Filtering Favors the Generalization of Robot Learning
Jindou Jia, Shixuan Han, Meng Wang +8
Living organisms exhibit extraordinary adaptability to unseen environments through their intrinsic physical structures and lifelong feedback-driven learning. Endowing robots with c…
Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning
Shilin Shan, Chuhao Zhou, Ruize Wang +30
Physically grounded robot intelligence requires robots to perceive, reason about, and regulate their interactions with the physical world. This capability is particularly critical…
ActiveVital: Geometry-Aware Embodied Vital Signs Monitoring for Home Healthcare Robots
Yuxuan Hu, Shihao Li, Yang Xiao +3
Home robots require reliable vital signs monitoring to support long-term companionship and safety in daily environments, yet obtaining respiration and heart rate without physical c…
ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion
Bofan Lyu, Jindou Jia, Kuangji Zuo +7
Humanoids deployed in human-centered environments must handle force-interactive tasks, where external contacts introduce unexpected disturbances that disrupt locomotion accuracy an…
GIVE: Grounding Human Gestures in Vision-Language-Action Models
Pengfei Liu, Gen Li, Junqiao Fan +4
Human communication is inherently multimodal, where language is often accompanied by non-verbal cues such as gestures to convey intentions. However, current Vision-Language-Action…