Jiaolong Yang — Papers on Cortexa

arxivcs.RO2026-07-20

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation

Ruicheng Li, Qixiu Li, Ruichun Ma, Yu Deng, Lin Luo, Zhiying Du, et al.

Vision-language-action (VLA) models have achieved impressive generalization in robotic manipulation, and recent memory-augmented VLAs have relaxed the Markovian assumption by conditioning on past images or language summaries. Vision-based memory approaches address this by conditi…

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arxivcs.CV2026-07-20

MoGe-3: Fine-Detail Monocular Geometry Estimation with Self-Guided Sparse Volumetric Refinement

Lingyu Kong, Ruicheng Li, Ruicheng Wang, Sicheng Xu, Chengtang Yao, Jianfeng Xiang, et al.

Monocular geometry estimation has recently achieved impressive performance across diverse scenes. However, state-of-the-art models still face notable distortion in local 3D structure, especially in fine details, like thin structures and small objects. We attribute this limitation…

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