Author

Chenhao Li

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Preprint Sep 2026

DITTO-X: Forward and Reverse Teleoperation for Dexterous Manipulation and Human Intervention

Teleoperated demonstrations are a primary source of data for robot manipulation, and teleoperated interventions are a primary mechanism for correcting policies at deployment. Yet most teleoperation systems close the loop through vision alone and are built around parallel-jaw grippers, limiting both what the robot can e...

Zhan-Peng He, Joaquin Palacios, Zhang-Yu Wang et al. · 0 citations

Open access Aug 2026

PCMTRefer: Symmetry-Aware Text-Guided Point Mamba for Referring Segmentation in Indoor 3D Point Clouds

Indoor 3D referring segmentation aims to identify and segment the target object in a point cloud according to a natural language expression. Although recent advances in multimodal feature fusion have markedly improved this task, existing methods do not jointly model the structural regularities commonly observed in indo...

Li Yuan, Bo Kong, Chenhao Li et al. · Symmetry · 0 citations

Preprint Aug 2026

Enhancing VLM Reward Models Through Structure-Aware Fine-Tuning

Designing effective reward functions remains a major bottleneck in Reinforcement Learning (RL). Recent work uses large foundation Vision-Language Models (VLMs) as reward models, computing text-observation similarity to bypass manual reward engineering. Although promising, these rewards are often noisy and unreliable, l...

Pyrros Koussios, Chen-Hao Li, Xin Chen et al. · 0 citations