3 papers
cs.RO2026
STAR: Sparse Tactile Representation Learning in Vision-Tactile-Language-Action Models for Dexterous Manipulation
Xiangcheng Liu, Tianhao Wu, Le Zheng +6
Dexterous manipulation requires coordinated multi-finger control and effective tactile feedback, yet learning these capabilities remains challenging due to the lack of large-scale…
cs.RO2026
Unordered Landmark Visual Navigation
Hao Ren, Junzhe Zhu, Yihan Li +8
Image-goal navigation is a fundamental capability for embodied AI, yet its practical deployment is strained by strong prior assumptions. Existing methods predominantly rely on temp…
cs.RO2026
Fisher-Preserving Guidance: Training-Free Manifold Constraints for Safe Diffusion Control
Hao Ren, Zetong Bi, Yiming Zeng +5
Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unreliable or inefficient trajectories when up…