3 papers
cs.RO2026
Rethinking Visual Embodiment Dependence in Visuomotor Policies
Hongjie Fang, Yuxuan Lu, Chenxi Wang +8
Visuomotor policies observe both the task scene and the acting embodiment, allowing embodiment-specific visual cues to influence action prediction. We study this phenomenon as visu…
cs.RO2026
Force Policy: Learning Hybrid Force-Position Control Policy under Interaction Frame for Contact-Rich Manipulation
Hongjie Fang, Shirun Tang, Mingyu Mei +9
Contact-rich manipulation demands human-like integration of perception and force feedback: vision should guide task progress, while high-frequency interaction control must stabiliz…
cs.RO2025
History-Aware Visuomotor Policy Learning via Point Tracking
Jingjing Chen, Hongjie Fang, Chenxi Wang +2
Many manipulation tasks require memory beyond the current observation, yet most visuomotor policies rely on the Markov assumption and thus struggle with repeated states or long-hor…