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cs.RO2026
Robust In-Hand Manipulation via Priors in Reinforcement Learning and Mechanical Design
Yifei Chen, Shihan Lu, Ed Colgate +1
In-hand manipulation without external sensing is challenging due to uncertainties from finger-object contacts and disturbances by gravity. While reinforcement learning has shown pr…
cs.RO2025
Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation
Guo Ye, Zexi Zhang, Xu Zhao +4
Vision-Language-Action (VLA) models have shown remarkable generalization by mapping web-scale knowledge to robotic control, yet they remain blind to physical contact. Consequently,…
cs.RO2023
Active Acoustic Sensing for Robot Manipulation
Shihan Lu, Heather Culbertson
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is diff…