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cs.RO2026
Transferable Tool-Tissue Contact Detection from Stereo Depth in Robot-Assisted Surgery
Mingyeung Wu, Zhonghao Zhang, Hao Yang +2
Reliable tool--tissue contact detection can support interaction-aware control and downstream force estimation in robot-assisted surgery. Most existing methods learn a contact class…
cs.RO2026
Never Too Late for Force: Accelerating VLA Post-Training with Reactive Force Injection
Yi Wang, Wendi Chen, Zimo Wen +8
Pretrained vision-language-action (VLA) policies provide strong language-conditioned manipulation knowledge, but they remain largely vision-driven and can struggle once manipulatio…