Executing an unfamiliar laboratory protocol requires a robot to identify missing capabilities and determine whether each operation remains valid as the experiment progresses. This letter presents BioAgent, an embodied agent that addresses these coupled challenges of capability sufficiency and experimental validity. It...
Gao-Jing Zhang, Chang-Wen Chen, Zi-Chen Luo et al.· 0 citations
PACE (Proprioception-Anchored Cross-Modal Encoder) is presented, which supervises temporal visual and F/T representations by predicting proprioceptive state transitions and is robust to perturbations that substantially degrade pose-based and learned-fusion baselines.
Yu-Han Wang, Yurou Chen, Hong-Ye Jiang et al.· 0 citations
Contact-rich assembly remains challenging because it requires submillimeter spatial accuracy and reliable interpretation of forces during sustained contact. Although simulation-based reinforcement learning offers a scalable training paradigm, discrepancies in visual observations, contact dynamics, and force/torque (F/T...
Yu-Han Wang, Yurou Chen, Hong-Ye Jiang et al.· 0 citations
The Triplet-to-Track System (TTS), a closed-loop long-horizon imitation learning system that uses human videos to reduce reliance on robot-collected data, achieves a 74.8\% average success rate and supports object-level and compositional generalization.
Jianxiang Liu, Gao-Jing Zhang, Chuan Wen et al.· 0 citations
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