相关论文: Touch begins where vision ends: Generalizable poli…

While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about physical interactions. To address this, recent work has…

Tactile feedback is generally recognized to be crucial for effective interaction with the physical world. However, state-of-the-art Vision-Language-Action (VLA) models lack the ability to interpret and use tactile signals, limiting their…

While vision-language models have advanced significantly, their application in language-conditioned robotic manipulation is still underexplored, especially for contact-rich tasks that extend beyond visually dominant pick-and-place…

Vision-Language-Action (VLA) models have shown remarkable achievements, driven by the rich implicit knowledge of their vision-language components. However, achieving generalist robotic agents demands precise grounding into physical…

For contact-intensive tasks, the ability to generate policies that produce comprehensive tactile-aware motions is essential. However, existing data collection and skill learning systems for dexterous manipulation often suffer from…

Vision-Language-Action (VLA) models have shown remarkable generalization by mapping web-scale knowledge to robotic control, yet they remain blind to physical contact. Consequently, they struggle with contact-rich manipulation tasks that…

Contact-rich manipulation demands human-like integration of perception and force feedback: vision should guide task progress, while high-frequency interaction control must stabilize contact under uncertainty. Existing learning-based…

Developing robust and general-purpose manipulation policies represents a fundamental objective in robotics research. While Vision-Language-Action (VLA) models have demonstrated promising capabilities for end-to-end robot control, existing…

We address the problem of tactile localization, where the goal is to identify image regions that share the same material properties as a tactile input. Existing visuo-tactile methods rely on global alignment and thus fail to capture the…

Significant progress has been made in vision-language models. However, language-conditioned robotic manipulation for contact-rich tasks remains underexplored, particularly in terms of tactile sensing. To address this gap, we introduce the…

Autonomous execution of long-horizon, contact-rich manipulation tasks traditionally requires extensive real-world data and expert engineering, posing significant cost and scalability challenges. This paper proposes a novel framework…

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 action predictions. Although such models demonstrate strong…

Tactile information is a critical tool for dexterous manipulation. As humans, we rely heavily on tactile information to understand objects in our environments and how to interact with them. We use touch not only to perform manipulation…

Contact-rich tasks continue to present many challenges for robotic manipulation. In this work, we leverage a multimodal visuotactile sensor within the framework of imitation learning (IL) to perform contact-rich tasks that involve relative…

Tactile sensing is a crucial capability for Vision-Language-Action (VLA) architectures, as it enables dexterous and safe manipulation in contact-rich tasks. However, reliance on dedicated tactile hardware increases cost and reduces…

Supervised visuomotor policies have shown strong performance in robotic manipulation but often struggle in tasks with limited visual inputs, such as operations in confined spaces and dimly lit environments, or tasks requiring precise…

Recent advancements in vision-language-action (VLA) models have shown promise in robotic manipulation, yet they continue to struggle with long-horizon, multi-step tasks. Existing methods lack internal reasoning mechanisms that can identify…

Vision-language action (VLA) policies often report strong manipulation benchmark performance with relatively few demonstrations, but it remains unclear whether this reflects robust language-to-object grounding or reliance on…

Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone cannot resolve uncertain, evolving interactions with the…

We introduce multi-task Visuo-Tactile World Models (VT-WM), which capture the physics of contact through touch reasoning. By complementing vision with tactile sensing, VT-WM better understands robot-object interactions in contact-rich…