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cs.RO2026
Spark-0: Scaling Spatially Aligned Tactile Pretraining for Robot Dexterous Manipulation
Tianxing Chen, Wenwei Lin, Chuqiao Lyu +19
Generalist robot policies benefit from large-scale visual pretraining but often struggle with contact-rich dexterous manipulation, where force, compliance, and incipient slip are h…
cs.RO2026
DexTouch-WM: Learning Action-Conditioned Tactile World Models from Human Touch for Dexterous Robot Manipulation
Yan Qin, Yue Chen, Wenwei Lin +9
Learning predictive models of contact-rich dexterous manipulation requires dense tactile interaction, but such data are costly to scale on real robots and remain tied to embodiment…
cs.RO2026
Towards Trustworthy Embodied Intelligence: A Systems Framework and Graded Trustworthiness Levels
Xinyu Yang, Tianxing Chen, Honghao Su +38
Embodied intelligence integrates learned perception and decision making with real-time computation, control, and physical interaction. Because failures can cause immediate physical…