4 papers · 1 filter
-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…
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…
Inter-Reflective Gaussian Splatting for Robust and Efficient Inverse Rendering
Chun Gu, Xiaofei Wei, Zixuan Zeng +2
Faithful inverse rendering requires visibility and indirect radiance to explain secondary illumination and inter-reflection, yet rasterization-oriented Gaussian representations do…
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…