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cs.RO2026
From Documented Strengths to Force Limits: Material-Informed Robotic Insertion for Construction Assembly
Lin He, Yanyi Chen, Haofei Sun +2
Insertion is a fundamental operation in robotic construction assembly, where variations in material properties and assembly conditions make it difficult to select contact forces th…
cs.RO2026
Geometry Conditioning in an Embodied SLM: Training Controls and Robustness Diagnostics in a 0.8B Hybrid Model
Hao Li, Haofei Sun, Lin He
We study how physical-state inputs affect a 0.8B hybrid language model adapted for manipulation with 6.2M trainable parameters. Six conditions are trained on three LIBERO-Spatial t…