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cs.RO2025
VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback
Jianxin Bi, Kevin Yuchen Ma, Ce Hao +2
Tactile feedback is generally recognized to be crucial for effective interaction with the physical world. However, state-of-the-art Vision-Language-Action (VLA) models lack the abi…
cs.RO2025
CHD: Coupled Hierarchical Diffusion for Long-Horizon Tasks
Ce Hao, Anxing Xiao, Zhiwei Xue +1
Diffusion-based planners have shown strong performance in short-horizon tasks but often fail in complex, long-horizon settings. We trace the failure to loose coupling between high-…