3 papers
cs.RO2026
OVAL: Open-Vocabulary Augmented Memory Model for Lifelong Object Goal Navigation
Jiahua Pei, Yi Liu, Guoping Pan +3
Object Goal Navigation (ObjectNav) refers to an agent navigating to an object in an unseen environment, which is an ability often required in the accomplishment of complex tasks. W…
cs.RO2026
PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation
Mingxin Wang, Zhirun Yue, Renhao Lu +7
Contact-rich manipulation requires not only vision-dominant task semantics but also closed-loop reactions to force/torque (F/T) transients. Yet, generative visuomotor policies are…
cs.RO2025
HL-IK: A Lightweight Implementation of Human-Like Inverse Kinematics in Humanoid Arms
Bingjie Chen, Zihan Wang, Zhe Han +3
Traditional IK methods for redundant humanoid manipulators emphasize end-effector (EE) tracking, frequently producing configurations that are valid mechanically but not human-like.…