arXiv:2511. 06667v2 Announce Type: replace-cross Abstract: With the explosive growth of rigid-body simulators, policy learning in simulation has become the de facto standard for most rigid morphologies.
By Andrew Choi, Dezhong Tong, Xiaonan Huang
arXiv:2607. 06740v1 Announce Type: cross Abstract: Soft robots have attracted significant attention in applications such as medical intervention, rehabilitation, and robotic manipulation due to their inherent compliance, flexibility, and high degrees of freedom.
By Nilay Kushawaha, Muhammad Sunny Nazeer, Baljinder Singh Bal, Cecilia Laschi, Egidio Falotico
The paper introduces TaMeSo‑bot, a soft‑wrist robotic system that uses tactile memory to perform robust object insertion tasks. It employs a Masked Tactile Trajectory Transformer (MAT³) to jointly model actions, tactile cues, force‑torque data, and proprioception, learning spatiotemporal representations through masked token prediction. Experiments on peg‑in‑hole tasks show that MAT³ outperforms baselines and adapts well to unseen pegs and conditions.
By Tatsuya Kamijo, Mai Nishimura, Nodoka Shibasaki, Jeremy Siburian, Cristian C. Beltran-Hernandez, Masashi Hamaya
arXiv:2605. 13548v3 Announce Type: replace-cross Abstract: Existing robotic foundation models, while powerful, are predicated on an implicit assumption of temporal homogeneity: treating all actions as equally informative during optimization.
By Daojie Peng, Fulong Ma, Jiahang Cao, Qiang Zhang, Xupeng Xie, Jian Guo, Ping Luo, Andrew F. Luo, Boyu Zhou, Jun Ma
arXiv:2607. 04234v1 Announce Type: cross Abstract: Deformable object manipulation poses challenges beyond task completion: successful execution must also maintain safe physical interaction, holding the object stably without slip or drop while avoiding excessive deformation.
By Bowen Jing, Mingxin Wang, Ruiyang Hao, Chenchen Ge, Hanwen Shen, Junjie He, Yang Cui, Yiming Hou, Weitao Zhou, Jiawei Wang, Minglei Li, Dandan Zhang, Ding Zhao, Houde Liu, Xiaofan Li, Si Liu, Ping Luo, Haibao Yu
arXiv:2609.01596v1 Announce Type: cross
Abstract: Real-world robotic assembly at sub-millimeter tolerances demands spatial precision, compliant interaction, and robustness to contact failures. We pre...
By Haoyuan Deng, Haichao Liu, Wenkai Guo, Yuan Ling, Zaijia Yang, Yuanjiang Xue, Haosheng Sun, Liangzi Wang, Ziwei Wang