7 papers · 1 filter
VT-MUSE: Multimodal Unified Sequential Visuotactile Representation Learning for Manipulation
Congsheng Xu, Qiaochu Yang, Fangyuan Shi +9
We propose VT-MUSE, a Multimodal Unified SEquential representation learning framework for visuotactilemanipulation. Existing approaches often encode visual and tactile observations…
BORA: Bridging Offline Reinforcement Learning and Online Residual Adaptation for Real-World Dexterous VLA Models
Zhongxi Chen, Yifan Han, Bin Qiu +8
Vision-Language-Action (VLA) policies provide strong behavioral priors for dexterous manipulation, yet adapting them on real robots remains challenging because high-DoF contact fai…
-EqM: Equilibrium Matching for Closed-Loop Vision-Language-Action Control
Huanming Liu, Congsheng Xu, Jianmin Ji +1
Currently, Vision-Language-Action (VLA) models have become the most adopted paradigm for robotic manipulation for its great potential for task generalization. While most generative…
R3DP: Real-Time 3D-Aware Policy for Embodied Manipulation
Yuhao Zhang, Wanxi Dong, Yue Shi +13
Embodied manipulation requires accurate 3D understanding of objects and their spatial relations to plan and execute contact-rich actions. While large-scale 3D vision models provide…
DexHiL: A Human-in-the-Loop Framework for Vision-Language-Action Model Post-Training in Dexterous Manipulation
Yifan Han, Zhongxi Chen, Yuxuan Zhao +5
While Vision-Language-Action (VLA) models have demonstrated promising generalization capabilities in robotic manipulation, deploying them on specific and complex downstream tasks s…
UniVTAC: A Unified Simulation Platform for Visuo-Tactile Manipulation Data Generation, Learning, and Benchmarking
Baijun Chen, Weijie Wan, Tianxing Chen +13
Robotic manipulation has seen rapid progress with vision-language-action (VLA) policies. However, visuo-tactile perception is critical for contact-rich manipulation, as tasks such…
Benchmarking Generalizable Bimanual Manipulation: RoboTwin Dual-Arm Collaboration Challenge at CVPR 2025 MEIS Workshop
Tianxing Chen, Kaixuan Wang, Zhaohui Yang +96
Embodied Artificial Intelligence (Embodied AI) is an emerging frontier in robotics, driven by the need for autonomous systems that can perceive, reason, and act in complex physical…