2 papers
cs.RO2026
Predicted Futures Are Not Enough: Learning Executable Goals for Robot Manipulation
Tzu-Yu Chuang, Ching-Hsiang Chang, Yi-Hsiu Lee +3
Generative world models provide rich predictions of how manipulation scenes may evolve toward task objectives, yet those futures do not directly expose the compact task variables r…
cs.RO2026
Seeing Through the Displaced Frame: Privileged Noise Distillation for Vision-Force Precision Assembly
Ching-Hsiang Chang, Tzu-Yu Chuang, Yi-Hsiu Lee +3
Pose error in precision assembly can corrupt not only what a robot observes but also the coordinate frame in which it acts. On the FORGE benchmark, the official state-based policy…