Coordinated arm-hand motion planning is fundamental to dexterous robotic manipulation in complex and constrained environments. A straightforward solution is to decompose the problem into separate arm path planning and hand motion generation; however, this poses a dilemma: decomposition can miss feasible solutions that...
Zi-Yuan Wang, Yunlong Shan, Fei Mo et al.· 0 citations
Tactile sensing is essential for robots in contact-rich tasks, yet many tactile sensors still provide sparse, low-dimensional signals that do not capture sufficient information for complex robotic perception and interaction. Vision-based tactile sensors (VBTSs) offer a powerful alternative by con-verting contact-induce...
Peng Zhou, Jun Hu, Si-Han Chen et al.· 2 citations
Robotic-GST is presented, a geometry-aware spatio-temporal behaviour representation and evaluation framework that constructs a Gaussian-SAM robotic environment for real-to-sim policy verification and improves the reliability of real-world manipulation deployment.
Si-Chao Liu, Ze-Kun Wang, Li-Xuan Tang et al.· 0 citations
World-action models can jointly predict future visual observations and robot actions. However, discrepancies may exist between their visual predictions and the consequences implied by generated actions. We observe that WAMs can often generate visually plausible task-completion outcomes before producing action sequences...
Yu-Heng Qiao, Zi-Ran Wei, Xiao-Hang Wang et al.· 0 citations
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