15 papers
Try Once, Then Optimal: De-Redundified Procedure Memory for Cross-Episode Exploration Amortization
Haizhou Ge, Haochen Ouyang, Zhixing Chen +6
Manipulating objects with hidden internal state, such as a latched microwave, forces a robot to probe before it can act. Yet a robot that has solved an instance once re-runs the sa…
FGGS-LiDAR: Ultra-Fast, GPU-Accelerated Simulation from General 3DGS Models to LiDAR
Junzhe Wu, Yufei Jia, Yiyi Yan +6
While 3D Gaussian Splatting (3DGS) has emerged as a strong representation for photorealistic rendering, its vast ecosystem of assets remains difficult to use for high-performance L…
FILIC: Dual-Loop Force-Guided Imitation Learning with Impedance Torque Control for Contact-Rich Manipulation Tasks
Haizhou Ge, Yufei Jia, Zheng Li +6
Many contact-rich manipulation tasks require precise force regulation. However, most imitation learning (IL) policies remain position-centric and lack explicit force awareness, and…
QuadVerse: An Integrated Framework Aligning Visual-Physical Reality for Quadruped Simulation
Yuxiang Chen, Yuanhao Wang, Ziheng Zhang +6
Simulation is central to robot learning, yet the sim-to-real gap remains a major bottleneck. Existing approaches often tackle visual or dynamic gaps separately, overlooking how the…
When Video Misreads: Closed-Loop Distillation of Reading Heuristics for Exploratory Manipulation Trace QA
Haizhou Ge, Yufei Jia, Yue Li +5
Exploratory manipulation often turns an apparent failed attempt into the key evidence for what to do next. For example, a robot pulls a locked cabinet drawer, fails, and only succe…
GeoAlign: Beyond Semantics with State-Guided Spatial Alignment in VLA Models
Yizhi Chen, Zhanxiang Cao, Xinyi Peng +14
Current Vision--Language--Action (VLA) models often optimize for semantic grounding, whereas executable manipulation requires geometry-aware spatial alignment and dynamic affordanc…