2 citations · 2 across the 7 of their papers we have counts for
4 papers · 1 filter
Learning Expressive and Compositional Motion Representation via Spectral Skills
Feiyang Wu, Chenxiao Gao, Chen Yang +3
Robotic foundation models offer a promising path toward general-purpose humanoid robot control, often through hierarchical architectures. However, their effectiveness depends on th…
Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulation
Fukang Liu, Yipu Chen, Jaehwi Jang +3
Humanoid robots are expected to perform diverse human-level tasks in daily environments, many of which require precise regulation of interaction forces. While recent vision-languag…
VQActFlow: Vector-Quantized Action Mode Steering for Multi-Task Robot Manipulation
Zhigen Zhao, Mark Leggiero, Yipu Chen +5
Multi-task robot manipulation policies are challenging to learn from demonstration because traditionally a single network must select among qualitatively different action modes fro…
WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning
Jaehwi Jang, Zhaoyuan Gu, Alfred Cueva +15
Whole-body humanoid manipulation of bulky, deformable, and shared-load objects requires distributed contact sensing and explicit force regulation, yet most imitation policies treat…