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cs.RO2026
Force-Aware Residual DAgger via Trajectory Editing for Precision Insertion with Impedance Control
Yiou Huang, Ning Ma, Weichu Zhao +4
Imitation learning (IL) has shown strong potential for contact-rich precision insertion tasks. However, its practical deployment is often hindered by covariate shift and the need f…
cs.RO2026
TempoFit: Plug-and-Play Layer-Wise Temporal KV Memory for Long-Horizon Vision-Language-Action Manipulation
Jun Sun, Boyu Yang, Jiahao Zhang +7
Pretrained Vision-Language-Action (VLA) policies have achieved strong single-step manipulation, but their inference remains largely memoryless, which is brittle in non-Markovian lo…
cs.RO2025
Robotic Sim-to-Real Transfer for Long-Horizon Pick-and-Place Tasks in the Robotic Sim2Real Competition
Ming Yang, Hongyu Cao, Lixuan Zhao +2
This paper presents a fully autonomous robotic system that performs sim-to-real transfer in complex long-horizon tasks involving navigation, recognition, grasping, and stacking in…