8 papers
ReTouch: Empowering Contact-Rich Dexterous Manipulation with Online-Refined Tactile Prediction
Shiqi Zhang, Xin Zhang, Yedong Shen +9
Fusing tactile signals has proven effective for contact-rich manipulation, enabling robots to perceive contact states and adapt to rapidly changing physical interactions. Yet effec…
Enhancing Video Physical Consistency via Role-aware Joint Training and Modality-decoupled Denoising
Guangting Zheng, Haojing Chen, Hao Li +6
While modern video diffusion models excel in visual fidelity, maintaining long-range physical consistency remains a formidable challenge. Conventional pixel-reconstruction objectiv…
SWIFT: Prompt-Adaptive Memory for Efficient Interactive Long Video Generation
Shanwen Tan, Hao Li, Jingtao Zhang +4
Streaming long-video generation faces a central challenge in continuous semantic switching, requiring adaptive memory to preserve coherent visual evolution. Current approaches rely…
DreamWorld: Unified World Modeling in Video Generation
Boming Tan, Xiangdong Zhang, Ning Liao +5
Despite impressive progress in video generation, existing models remain limited to surface-level plausibility, lacking a coherent and unified understanding of the world. Prior appr…
FAVLA: A Force-Adaptive Fast-Slow VLA model for Contact-Rich Robotic Manipulation
Yao Li, Peiyuan Tang, Wuyang Zhang +7
Force/torque feedback can substantially improve Vision-Language-Action (VLA) models on contact-rich manipulation, but most existing approaches fuse all modalities at a single opera…
EvoDiagram: Agentic Editable Diagram Creation via Design Expertise Evolution
Tianfu Wang, Leilei Ding, Ziyang Tao +13
High-fidelity diagram creation requires the complex orchestration of semantic topology, visual styling, and spatial layout, posing a significant challenge for automated systems. Ex…