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cs.RO2026
CompVLA: A Variable Compliance Vision-Language-Action Model for Contact-rich Manipulation
Jongmin Kim, Junsu Ha, Che-Sang Park +5
Contact-rich manipulation, requiring robots to regulate not only motion but also how they yield to external forces, has emerged as the next frontier for Vision-Language-Action (VLA…
cs.RO2026
Spatial Attention: Adapting Execution Horizons for Diffusion Policies via Observation Sensitivity
Che-Sang Park, Junsu Ha, Jianlong Fu +1
Sampling action chunks via generative models has become a widely adopted methodology for robotic learning from demonstration. However, existing methods often struggle to balance re…
cs.LG2026
MATE: Solving Contextual Markov Decision Processes with Memory of Accumulated Transition Embeddings
Himchan Hwang, Hyeokju Jeong, Gene Chung +3
We propose MATE, a simple yet effective memory architecture for solving Contextual Markov Decision Processes (CMDPs), a family of MDPs parameterized by an unobserved context. In CM…