Related papers: MOMA-Force: Visual-Force Imitation for Real-World …
Force sensing is a crucial modality for Vision-Language-Action (VLA) frameworks, as it enables fine-grained perception and dexterous manipulation in contact-rich tasks. We present Force-Distilled VLA (FD-VLA), a novel framework that…
In this paper, we propose a method to create visuomotor mobile manipulation solutions for long-horizon activities. We propose to leverage the recent advances in simulation to train visual solutions for mobile manipulation. While previous…
Synthesizing interaction-involved human motions has been challenging due to the high complexity of 3D environments and the diversity of possible human behaviors within. We present LAMA, Locomotion-Action-MAnipulation, to synthesize natural…
Today robots must be safe, versatile, and user-friendly to operate in unstructured and human-populated environments. Dynamical system-based imitation learning enables robots to perform complex tasks stably and without explicit programming,…
Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…
Simulation offers a scalable and low-cost way to enrich vision-language-action (VLA) training, reducing reliance on expensive real-robot demonstrations. However, most sim-real co-training methods rely on supervised fine-tuning (SFT), which…
We present a robot base placement and control method that enables a mobile manipulator to gracefully recover from manipulation failures while performing tasks on-the-move. A mobile manipulator in motion has a limited window to complete a…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…
Robotic manipulation of deformable and fragile objects presents significant challenges, as excessive stress can lead to irreversible damage to the object. While existing solutions rely on accurate object models or specialized sensors and…
Mobile manipulation is usually achieved by sequentially executing base and manipulator movements. This simplification, however, leads to a loss in efficiency and in some cases a reduction of workspace size. Even though different methods…
We present a reactive base control method that enables high performance mobile manipulation on-the-move in environments with static and dynamic obstacles. Performing manipulation tasks while the mobile base remains in motion can…
Vision-Language-Action (VLA) models trained on large robot datasets promise general-purpose, robust control across diverse domains and embodiments. However, existing approaches often fail out-of-the-box when deployed in novel environments,…
Traditional vision-based material perception methods often experience substantial performance degradation under visually impaired conditions, thereby motivating the shift toward non-visual multimodal material perception. Despite this,…
Large-scale endeavors like and widespread community efforts such as Open-X-Embodiment have contributed to growing the scale of robot demonstration data. However, there is still an opportunity to improve the quality, quantity, and diversity…
Despite the promise of Vision-Language-Action (VLA) models as generalist robotic controllers, their robustness against perceptual noise and environmental variations in out-of-distribution (OOD) tasks remains fundamentally limited by the…
Imitating tool manipulation from human videos offers an intuitive approach to teaching robots, while also providing a promising and scalable alternative to labor-intensive teleoperation data collection for visuomotor policy learning. While…
A standard motion control with feedback of the output displacement cannot handle unforeseen contact with environment without penetrating into the soft, i.e. viscoelastic, materials or even damaging the fragile materials. Robotics and…
We propose a CompliantVLA-adaptor that augments the state-of-the-art Vision-Language-Action (VLA) models with vision-language model (VLM)-informed context-aware variable impedance control (VIC) to improve the safety and effectiveness of…
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically…
Providing mobile robots with the ability to manipulate objects has, despite decades of research, remained a challenging problem. The problem is approachable in constrained environments where there is ample prior knowledge of the environment…