4 papers · 1 filter
Triplet2Track: A Hierarchical System with Object-Centric Representations for Reliable Long-Horizon Manipulation
Jianxiang Liu, Gaojing Zhang, Chuan Wen +4
Ensuring reliability in uncertain environments remains difficult for long-horizon robotic manipulation. End-to-end VLA models are data-heavy and opaque, making diagnosis and verifi…
Practice Makes Policies: Bootstrapping and Consolidating Robotic Capabilities from Zero Human Demonstrations
Jialiang Li, Yuhan Wang, Haojun Li +5
General-purpose robotic manipulation requires robots to perform diverse tasks in open-world environments while improving their skills over time. Despite recent progress in robotic…
FAWAM: Force-Aware World Action Models for Closed-Loop Contact-Rich Manipulation
Haotian He, Zeyu Yan, Qipeng Liu +2
Force signals provide critical interaction cues for contact-rich robotic manipulation. However, existing methods mostly use force as an additional observation modality, without ful…
CLASH: Collision Learning via Augmented Sim-to-real Hybridization to Bridge the Reality Gap
Haotian He, Ning Guo, Siqi Shi +2
The sim-to-real gap, particularly in the inaccurate modeling of contact-rich dynamics like collisions, remains a primary obstacle to deploying robot policies trained in simulation.…