From the 2 of 11 linked papers with an AI index.
11 papers
FA-RDP: A Frequency-Adaptive Reactive Diffusion Policy for Contact-Rich Manipulation
Lifeng Zhuo, Wendi Chen, Han Xue +4
The paper introduces FA-RDP, a diffusion‑based policy that adapts its inference frequency during contact‑rich manipulation, using a multi‑frequency visual‑force transformer and a m…
Never Too Late for Force: Accelerating VLA Post-Training with Reactive Force Injection
Yi Wang, Wendi Chen, Zimo Wen +8
The paper introduces LIFT, a post‑training method that adds reactive force feedback to pretrained vision‑language‑action policies, enabling them to handle contact‑rich manipulation…
FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation
Chengbo Yuan, Zicheng Zhang, Mingjie Zhou +14
Despite the success of vision-based generalist robotic policies, existing tactile-based policies remain tied to fixed embodiments and sensor setups. This is because tactile signals…
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…
RoboPocket: Improve Robot Policies Instantly with Your Phone
Junjie Fang, Wendi Chen, Han Xue +7
Scaling imitation learning is fundamentally constrained by the efficiency of data collection. While handheld interfaces have emerged as a scalable solution for in-the-wild data acq…
Rethinking Camera Choice: An Empirical Study on Fisheye Camera Properties in Robotic Manipulation
Han Xue, Nan Min, Xiaotong Liu +5
The adoption of fisheye cameras in robotic manipulation, driven by their exceptionally wide Field of View (FoV), is rapidly outpacing a systematic understanding of their downstream…