4 papers
DexTacWAM: A Visuo-Tactile World-Action Model for Dexterous Manipulation
Haoran Yuan, Zekai Wang, Boning Shao +4
Dexterous manipulation depends on contact dynamics that are often only partially observable from vision. Recent World-Action Models (WAMs) couple predictive video world modeling wi…
Periodic Bootstrap Thompson Sampling For Periodically Non-Stationary Bandit Problems
Boning Shao
This paper introduces Periodic Bootstrap Thompson Sampling (PBTS), an innovative extension of the classic Thompson Sampling (TS) algorithm tailored for bandit problems with periodi…
T-Rex: Tactile-Reactive Dexterous Manipulation
Dantong Niu, Zhuoyang Liu, Zekai Wang +31
The ability to react dynamically to tactile signals has long been considered crucial to agile human-level dexterity. Yet contemporary learning-based Vision-Language-Action (VLA) mo…
Contrastive Action-Image Pre-training for Visuomotor Control
Yuvan Sharma, Dantong Niu, Anirudh Pai +16
Existing vision encoders for robotics face a fundamental bottleneck: robotic datasets lack the scale necessary for large-scale pre-training. Prior work circumvents this data scarci…