3 accepted papers
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…
Generalizing robotic manipulation across object poses, viewpoints, and dynamic disturbances is difficult, especially with only a few demonstrations. End-to-end visuomotor policies are expressive but data-hungry, while planning and optimization satisfy explicit constraints but do not directly capture…
An autonomous bin-picking system for grasping various cluttered packages can significantly benefit logistics by reducing manual labor and streamlining processing. The system's key challenges involve the gripper for confined spaces and grasp planning for unseen objects with varying materials, shapes,