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The proposed XRoboToolKit-T teleoperation system incorporates a tactile-informed force control architecture, designed to ensure both stable and precise force control in contact-rich manipulation during teleoperation, which achieves higher data collection efficiency and improved manipulation stability compared to state-of-the-art teleoperation without tactile assistance.
Achieve robust LVLM defense against adversarial attacks with minimal image modification and computational cost by exploiting structural priors.
