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cs.RO2026
ViTacWorld: Scaling Visuo-Tactile World Models for Contact-Rich Robot Manipulation
Yunao Huang, Shiyu Sang, Haotao Lu +6
Contact-rich robot manipulation requires physical interaction cues that are often invisible to cameras, making tactile sensing essential for robust control. However, scaling visuo-…
cs.RO2024
AffordDP: Generalizable Diffusion Policy with Transferable Affordance
Shijie Wu, Yihang Zhu, Yunao Huang +5
Diffusion-based policies have shown impressive performance in robotic manipulation tasks while struggling with out-of-domain distributions. Recent efforts attempted to enhance gene…