From the 1 of 18 linked papers with an AI index.
18 papers
CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation
Yushan Liu, Peibo Sun, Xintao Chao +8
The paper introduces CheckVLA, a system that uses a frozen action‑conditioned world model to verify and intervene during long‑horizon mobile manipulation when execution deviates fr…
TaCauchy: An Extensible FEM Framework for Vision-Based Tactile Simulation
Hengfei Zhao, Yifan Xie, Junhao Gong +6
Vision-based tactile sensors require high-fidelity simulation for reinforcement learning, yet existing approaches struggle to provide accurate mechanical stress fields within GPU-a…
OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation
Yushan Liu, Peibo Sun, Shoujie Li +7
World Action Models (WAMs) enhance Vision-Language-Action policies by jointly predicting scene evolution and robot actions, but existing methods usually represent the predicted wor…
Time-Division Multiplexing Actuation in Tendon-Driven Arms: Lightweight Design and Fault Tolerance
Shoujie Li, Changqing Guo, Jianle Xu +4
Robotic manipulators for aerospace applications require a delicate balance between lightweight construction and fault-tolerant operation to satisfy strict weight limitations and en…
FlexiCup: Wireless Multimodal Suction Cup with Dual-Zone Vision-Tactile Sensing
Junhao Gong, Shoujie Li, Kit-Wa Sou +8
Conventional suction cups lack sensing capabilities for contact-aware manipulation in unstructured environments. This paper presents FlexiCup, a multimodal suction cup with wireles…
Master Micro Residual Correction with Adaptive Tactile Fusion and Force-Mixed Control for Contact-Rich Manipulation
Xingting Li, Yifan Xie, Han Liu +4
Robotic contact-rich and fine-grained manipulation remains a significant challenge due to complex interaction dynamics and the competing requirements of multi-timescale control. Wh…