3 papers
cs.RO2026
AdaptPNP: Integrating Prehensile and Non-Prehensile Skills for Adaptive Robotic Manipulation
Jinxuan Zhu, Chenrui Tie, Xinyi Cao +8
Non-prehensile (NP) manipulation, in which robots alter object states without forming stable grasps (for example, pushing, poking, or sliding), significantly broadens robotic manip…
cs.RO2025
ShapeForce: Low-Cost Soft Robotic Wrist for Contact-Rich Manipulation
Jinxuan Zhu, Zihao Yan, Yangyu Xiao +5
Contact feedback is essential for contact-rich robotic manipulation, as it allows the robot to detect subtle interaction changes and adjust its actions accordingly. Six-axis force-…
cs.RO2025
Audio-VLA: Adding Contact Audio Perception to Vision-Language-Action Model for Robotic Manipulation
Xiangyi Wei, Haotian Zhang, Xinyi Cao +4
The Vision-Language-Action models (VLA) have achieved significant advances in robotic manipulation recently. However, vision-only VLA models create fundamental limitations, particu…