4 papers
RISE: Self-Improving Robot Policy with Compositional World Model
Jiazhi Yang, Kunyang Lin, Jinwei Li +10
Despite the sustained scaling on model capacity and data acquisition, Vision-Language-Action (VLA) models remain brittle in contact-rich and dynamic manipulation tasks, where minor…
TAMEn: Tactile-Aware Manipulation Engine for Closed-Loop Data Collection in Contact-Rich Tasks
Longyan Wu, Jieji Ren, Chenghang Jiang +6
Handheld paradigms offer an efficient and intuitive way for collecting large-scale demonstration of robot manipulation. However, achieving contact-rich bimanual manipulation throug…
SkillVLA: Tackling Combinatorial Diversity in Dual-Arm Manipulation via Skill Reuse
Xuanran Zhai, Zekai Huang, Longyan Wu +5
Recent progress in vision-language-action (VLA) models has demonstrated strong potential for dual-arm manipulation, enabling complex behaviors and generalization to unseen environm…
UniVTAC: A Unified Simulation Platform for Visuo-Tactile Manipulation Data Generation, Learning, and Benchmarking
Baijun Chen, Weijie Wan, Tianxing Chen +13
Robotic manipulation has seen rapid progress with vision-language-action (VLA) policies. However, visuo-tactile perception is critical for contact-rich manipulation, as tasks such…