Buscar
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Force-aware manipulation typically relies on specialized force or tactile sensors. We show that force-aware manipulation can instead be achieved through visual force prediction from the deformation of a compliant Fin Ray gripper. Our approach trains two models. First, we train a visual force estimator on calibration data and use it to annotate task demonstrations with force estimates. Second, we train an action--force proposal policy on these force-augmented demonstrations to jointly generate candidate robot actions and their associated forces. At test time, we sample candidate actions and the forces they are expected to produce, then execute the action whose predicted force is closest to a target from the demonstrations. We evaluate our approach on berry picking, empty-can grasping, in-hand reorientation, and plug insertion. Our results show that visual force prediction can guide inference-time action selection for contact-rich manipulation without requiring force or tactile sensors at deployment.
Early-stage computational drug discovery requires coordinating heterogeneous scientific tools across multi-step workflows. We present a lightweight, tool-augmented framework in which a locally deployable compact language model plans calls to 18 modular tools. A Unified Molecular Schema maintains shared molecular records, while a plug-in interface supports tool replacement and extension. We construct 1,263 manually refined query-plan pairs through workflow-graph path coverage and apply LoRA fine-tuning to three compact model families. Under the query-level split, all fine-tuned models generate fully parseable and schema-compliant plans on 47 held-out cross-group queries. Llama 3.2-3B achieves a tool-selection F1 of 0.998, sequence exact match of 0.979, and argument F1 of 0.960. Under the stricter workflow-grouped split, which excludes identical ordered tool sequences across partitions, sequence exact match reaches 0.452 to 0.548, highlighting the remaining difficulty for compact models in generating complete workflow paths unseen during training. These results demonstrate the feasibility of compact, locally deployable planning while identifying compositional generalization as an important direction for further improvement.
