5 papers
PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation
Yuanzhe Liu, Jingyuan Zhu, Yuchen Mo +9
Recent advancements in vision-language-action (VLA) models have shown promise in robotic manipulation, yet they continue to struggle with long-horizon, multi-step tasks. Existing m…
VTAM: Video-Tactile-Action Models for Complex Physical Interaction Beyond VLAs
Haoran Yuan, Weigang Yi, Zhenyu Zhang +9
Video-Action Models (VAMs) have emerged as a promising framework for embodied intelligence, learning implicit world dynamics from raw video streams to produce temporally consistent…
DoorBot: Closed-Loop Task Planning and Manipulation for Door Opening in the Wild with Haptic Feedback
Zhi Wang, Yuchen Mo, Shengmiao Jin +1
Robots operating in unstructured environments face significant challenges when interacting with everyday objects like doors. They particularly struggle to generalize across diverse…
Sensor-Invariant Tactile Representation
Harsh Gupta, Yuchen Mo, Shengmiao Jin +1
High-resolution tactile sensors have become critical for embodied perception and robotic manipulation. However, a key challenge in the field is the lack of transferability between…
Learning to Double Guess: An Active Perception Approach for Estimating the Center of Mass of Arbitrary Objects
Shengmiao Jin, Yuchen Mo, Wenzhen Yuan
Manipulating arbitrary objects in unstructured environments is a significant challenge in robotics, primarily due to difficulties in determining an object's center of mass. This pa…