Author

W. Yau

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Preprint Sep 2026

DA-GRD: Decision-Aware Grasp-Relevant Disambiguation for tactile recovery under perception-to-execution mismatches

Grasping is a fundamental robotic capability that bridges perception and physical task execution. This paper studies grasp pose recovery under a perception-to-execution mismatch, where a grasp generated from visual perception may become spatially stale if the object moves before execution, using only sparse tactile int...

Hao-Ran Wang, Yu-Teng Sun, Yuan-Jie Li et al. · 0 citations

Jul 2026

VistaVLA: Geometry- and Semantic-Aware 3D Gaussian-Grounded VLA for Robotic Manipulation

This work presents VistaVLA, a novel two-stage framework that constructs a geometry- and semantics-aware 3D cognitive representation from 3D Gaussian primitives and grounds it as compact context tokens for VLA policy learning, and introduces Merge-then-Query (MtQ), a token summarization mechanism.

Mo-Han Liu, Zhihao Gu, Xuanyu Chen et al. · arXiv.org · 0 citations