PACE: Temporal-Role Tactile Conditioning for Chunk-Based Insertion Policies
cs.RO
Submitted: 2026-10-12
Updated: 2026-10-12
Comments: Accepted at CoRL 2026
Project page: https://pace-insertion.github.io
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Sources
- ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning
- Robust and Resilient Soft Robotic Object Insertion with Compliance-Enabled Contact Formation and Failure Recovery
- ForceVLA2: Unleashing Hybrid Force-Position Control with Force Awareness for Contact-Rich Manipulation
- Real-Time Execution of Action Chunking Flow Policies
- Real-Time Robot Execution with Masked Action Chunking
- $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
- Integrating Model-based Control and RL for Sim2Real Transfer of Tight Insertion Policies
- Learning on the Job: Self-Rewarding Offline-to-Online Finetuning for Industrial Insertion of Novel Connectors from Vision
- Touch begins where vision ends: Generalizable policies for contact-rich manipulation
- Learning When to See and When to Feel: Adaptive Vision-Torque Fusion for Contact-Aware Manipulation
- DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter
- OpenVLA: An Open-Source Vision-Language-Action Model
- FAST: Efficient Action Tokenization for Vision-Language-Action Models
- FAVLA: A Force-Adaptive Fast-Slow VLA model for Contact-Rich Robotic Manipulation
- Closed-Loop Action Chunks with Dynamic Corrections for Training-Free Diffusion Policy
- Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation
- ReTac-ACT: A State-Gated Vision-Tactile Fusion Transformer for Precision Assembly
- ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation
- Learning Versatile Humanoid Manipulation with Touch Dreaming
- OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation
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