Francis Tay — accepted AI-conference papers

2026

FD-VLA: Force-Distilled Vision-Language-Action Model for Contact-Rich Manipulation

Ruiteng Zhao, Wenshuo Wang, Yicheng Ma, Xiaocong Li, Francis Tay, Marcelo H Ang Jr +1

ICRA 2026poster

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 integrates force awareness into contact-rich manipulation without r…

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2026

RoboMT: Human-Like Compliance Control for Assembly Via a Bilateral Robotic Teleoperation and Hybrid Mamba-Transformer Framework

Rundong Wang, Yanchun Cheng, Qilong Yuan, Alok Prakash, Francis Tay, Marcelo H Ang Jr

ICRA 2026poster

Robotic compliance control is critical for delicate tasks such as electronic connector assembly, where precise force regulation and adaptability are paramount. However, traditional methods often struggle with modeling inaccuracies and sensor noise. Inspired by human adaptability in complex assembly …

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