5 papers
ForceVLA2: Unleashing Hybrid Force-Position Control with Force Awareness for Contact-Rich Manipulation
Yang Li, Zhaxizhuoma, Hongru Jiang +11
Embodied intelligence for contact-rich manipulation has predominantly relied on position control, while explicit awareness and regulation of interaction forces remain under-explore…
SkillVLA: Tackling Combinatorial Diversity in Dual-Arm Manipulation via Skill Reuse
Xuanran Zhai, Zekai Huang, Longyan Wu +5
Recent progress in vision-language-action (VLA) models has demonstrated strong potential for dual-arm manipulation, enabling complex behaviors and generalization to unseen environm…
Adaptive Attention Distillation for Robust Few-Shot Segmentation under Environmental Perturbations
Qianyu Guo, Jingrong Wu, Jieji Ren +2
Few-shot segmentation (FSS) aims to rapidly learn novel class concepts from limited examples to segment specific targets in unseen images, and has been widely applied in areas such…
Noise Fusion-based Distillation Learning for Anomaly Detection in Complex Industrial Environments
Jiawen Yu, Jieji Ren, Yang Chang +7
Anomaly detection and localization in automated industrial manufacturing can significantly enhance production efficiency and product quality. Existing methods are capable of detect…
ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulation
Jiawen Yu, Hairuo Liu, Qiaojun Yu +9
Vision-Language-Action (VLA) models have advanced general-purpose robotic manipulation by leveraging pretrained visual and linguistic representations. However, they struggle with c…