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cs.RO2026
MambaAct: Efficient Mamba Action Experts for Flow-Matching Vision-Language-Action Models
Khuyen Pham, Tran Nguyen Le, Edoardo Fazzari +1
Vision-language-action (VLA) models have shown strong promise for generalist robotic manipulation, but their inference cost remains a major bottleneck for real-time control. This l…
cs.RO2026
Hybrid Offline-Online Reinforcement Learning for Sensorless, High-Precision Force Regulation in Surgical Robotic Grasping
Edoardo Fazzari, Omar Mohamed, Khalfan Hableel +2
Precise grasp force regulation in tendon-driven surgical instruments is fundamentally limited by nonlinear coupling between motor dynamics, transmission compliance, friction, and d…