5 papers
DEFT-VLA: Stage-Localized Force Specialization for Contact-Rich Robotic Manipulation
Zan Huang, Yibo Qiu, Kan Ding +4
Contact-rich manipulation poses a stage-dependent sensory conflict: vision and proprioception are essential for localization and approach, when force is largely uninformative and p…
Training-Free BioNEL-RAG: Advancing Biomedical Entity Linking through Retrieval-Augmented Generation and Large Language Model
Ziyi Chen, Hui Liu, Ziyang Ling +2
Biomedical Named Entity Linking (BioNEL) is the task of mapping mentions extracted from biomedical texts to canonical entities or concepts in the standardized knowledge base. Altho…
GRAFT: Grounded and Efficient Online Reinforcement Adaptation for Fine-Grained Robot Manipulation
Yibo Qiu, Haoliang Ye, Shu'ang Sun +3
Pretrained vision-language-action (VLA) policies provide strong priors for robot manipulation, yet adapting them online to fine-grained biomedical tasks remains challenging. Task s…
THOR: A Theta-Gamma Hierarchical Oscillatory Reasoning Framework for Multi-hop QA
Ziyang Ling, Ronald X. Xu, Mingzhai Sun
Multi-hop question answering requires retrieving and integrating evidence from multiple contexts. Despite the rapid progress of current research, multi-hop reasoning remains constr…
Keyframe-Guided Structured Rewards for Reinforcement Learning in Long-Horizon Laboratory Robotics
Yibo Qiu, Shu'ang Sun, Haoliang Ye +2
Long-horizon precision manipulation in laboratory automation, such as pipette tip attachment and liquid transfer, requires policies that respect strict procedural logic while opera…