Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation
cs.RO, cs.LG
Submitted: 2026-09-01
Updated: 2026-09-01
Comments: Project page: https://pine-lab-ntu.github.io/facet-0/
Code: https://github.com/NVIDIA/Isaac-GR00T
Project page: https://pine-lab-ntu.github.io/facet-0
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Terminology
Sources
- AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems
- Residual Off-Policy RL for Finetuning Behavior Cloning Policies
- PaliGemma: A versatile 3B VLM for transfer
- UniIntervene: Agentic Intervention for Efficient Real-World Reinforcement Learning
- Gemini Robotics: Bringing AI into the Physical World
- Classifier-Free Diffusion Guidance
- Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization
- RL-100: Performant Robotic Manipulation with Real-World Reinforcement Learning
- VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning
- Precise and Dexterous Robotic Manipulation via Human-in-the-Loop Reinforcement Learning
- GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
- Advantage-Weighted Regression: Simple and Scalable Off-Policy Reinforcement Learning
- Residual Policy Learning
- REASSEMBLE: A Multimodal Dataset for Contact-rich Robotic Assembly and Disassembly
- ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulation
- ForceFlow: Learning to Feel and Act via Contact-Driven Flow Matching
- FD-VLA: Force-Distilled Vision-Language-Action Model for Contact-Rich Manipulation
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