4 papers
Flow with the Force Field: Learning 3D Compliant Flow Matching Policies from Force and Demonstration-Guided Simulation Data
Tianyu Li, Yihan Li, Zizhe Zhang +1
While visuomotor policy has made advancements in recent years, contact-rich tasks still remain a challenge. Robotic manipulation tasks that require continuous contact demand explic…
Surg-R1: A Hierarchical Reasoning Foundation Model for Scalable and Interpretable Surgical Decision Support with Multi-Center Clinical Validation
Jian Jiang, Chenxi Lin, Yiming Gu +24
Surgical scene understanding demands not only accurate predictions but also interpretable reasoning that surgeons can verify against clinical expertise. However, existing surgical…
Viability-Preserving Passive Torque Control
Zizhe Zhang, Yicong Wang, Zhiquan Zhang +2
Conventional passivity-based torque controllers for manipulators are typically unconstrained, which can lead to safety violations under external perturbations. In this paper, we em…
VLMgineer: Vision Language Models as Robotic Toolsmiths
George Jiayuan Gao, Tianyu Li, Junyao Shi +4
Tool design and use reflect the ability to understand and manipulate the physical world through creativity, planning, and foresight. As such, these capabilities are often regarded…