10 papers
TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance
Zhemeng Zhang, Jiahua Ma, Xincheng Yang +13
Fine-grained and contact-rich manipulation remain challenging for robots, largely due to the underutilization of tactile feedback. To address this, we introduce TouchGuide, a novel…
ComSim: Building Scalable Real-World Robot Data Generation via Compositional Simulation
Yiran Qin, Jiahua Ma, Li Kang +11
Recent advancements in foundational models, such as large language models and world models, have greatly enhanced the capabilities of robotics, enabling robots to autonomously perf…
Referring-Aware Visuomotor Policy Learning for Closed-Loop Manipulation
Jiahua Ma, Yiran Qin, Xin Wen +5
This paper addresses a fundamental problem of visuomotor policy learning for robotic manipulation: how to enhance robustness in out-of-distribution execution errors or dynamically…
Ego to World: Collaborative Spatial Reasoning in Embodied Systems via Reinforcement Learning
Heng Zhou, Li Kang, Yiran Qin +12
Understanding the world from distributed, partial viewpoints is a fundamental challenge for embodied multi-agent systems. Each agent perceives the environment through an ego-centri…
Ensuring Force Safety in Vision-Guided Robotic Manipulation via Implicit Tactile Calibration
Lai Wei, Jiahua Ma, Yibo Hu +1
In dynamic environments, robots often encounter constrained movement trajectories when manipulating objects with specific properties, such as doors. Therefore, applying the appropr…
GauDP: Reinventing Multi-Agent Collaboration through Gaussian-Image Synergy in Diffusion Policies
Ziye Wang, Li Kang, Yiran Qin +4
Recently, effective coordination in embodied multi-agent systems has remained a fundamental challenge, particularly in scenarios where agents must balance individual perspectives w…