3 papers
cs.RO2026
ForeTac: Predictive Contact Guidance for Generative Robot Policies
Zhiyuan Chen, Shuai Chen, Haoran Zhou +7
In contact-rich manipulation, actions that appear equally plausible from vision can produce different contact outcomes, while reactive control based on current tactile feedback may…
cs.RO2026
PACE: Temporal-Role Tactile Conditioning for Chunk-Based Insertion Policies
Zhiyuan Chen, Shixiong Xu, Shuai Chen +1
Contact-rich insertion requires robots to combine visual alignment with tactile adjustment. However, existing visuotactile chunk-based policies collapse tactile feedback into a sin…
cs.RO2026
One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulation
Xiaomi Embodied Intelligence Team, University of Macau, : +21
Scaling generalist vision-language-action (VLA) policies is severely bottlenecked by the inherent heterogeneity of embodied data, which spans diverse robot morphologies, camera con…