Showing 2026 · cs.ROShow all
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cs.RO2026
-Steering: Action Refinement with Tactile Forecasts and Feedback via Velocity-Field Steering
Yiming Chen, Xiaofei Wei, Chun Gu +3
Tactile sensing plays a crucial role in everyday human interaction. Consider inserting a plug into a tight socket, vision alone provides limited guidance during the final insertion…
cs.RO2026
TacPAC: Tactile Prediction and Real-Time Action Correction in World-Action Models for Contact-Rich Manipulation
Zipei Ma, Xiaofei Wei, Junzhe Jiang +2
World-action models guide action generation with predicted future observations, but vision-centric predictions miss the local contact cues that decide contact-rich manipulation. Ho…
cs.RO2026
NavOL: Navigation Policy with Online Imitation Learning
Xiaofei Wei, Chun Gu, Li Zhang
Learning robust navigation policies remains a core challenge in robotics. Offline imitation learning suffers from distribution shift and compounding errors at rollout, while reinfo…