Author

Gao-Jing Zhang

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Review Oct 2026

BioAgent: Self-Directed Skill Acquisition and Capability Growth for Long-Horizon Laboratory Protocols

Executing an unfamiliar laboratory protocol requires a robot to identify missing capabilities and determine whether each operation remains valid as the experiment progresses. This letter presents BioAgent, an embodied agent that addresses these coupled challenges of capability sufficiency and experimental validity. It...

Gao-Jing Zhang, Chang-Wen Chen, Zi-Chen Luo et al. · 0 citations

Preprint Sep 2026

Proprioception-Anchored Cross-Modal Pretraining for Zero-Shot Sim-to-Real Contact-Rich Assembly

PACE (Proprioception-Anchored Cross-Modal Encoder) is presented, which supervises temporal visual and F/T representations by predicting proprioceptive state transitions and is robust to perturbations that substantially degrade pose-based and learned-fusion baselines.

Yu-Han Wang, Yurou Chen, Hong-Ye Jiang et al. · 0 citations

Preprint Aug 2026

Triplet2Track: A Hierarchical System with Object-Centric Representations for Reliable Long-Horizon Manipulation

The Triplet-to-Track System (TTS), a closed-loop long-horizon imitation learning system that uses human videos to reduce reliance on robot-collected data, achieves a 74.8\% average success rate and supports object-level and compositional generalization.

Jianxiang Liu, Gao-Jing Zhang, Chuan Wen et al. · 0 citations