Author

Han Jiang

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Preprint Aug 2026

C2Dex: Contact-Consistent Reconstruction and Retargeting for Dexterous Manipulation from Monocular Video

C2Dex is presented, a video-to-dexterous-manipulation framework built around a shared interaction representation: stable object-side contacts recovered by aggregating noisy frame-wise observations in the canonical object space that serve a dual role: as trajectory-level constraints that guide reconstruction toward temp...

Jie Ren, Zhe-Hao Jiang, Yin-Hong Yang et al. · 3 citations · ⚡1

Preprint Aug 2026

$\tau_0$-VLA: a Hierarchical Robot Foundation Model with World-Model-Guided Test-Time Computation

Across in-domain and distribution-shifted settings, allocating additional test-time computation substantially improves next-subtask prediction accuracy, and these gains translate into higher closed-loop success on long-horizon robot manipulation tasks.

Xiaowei Cai, Yunuo Cai, Bing Chen et al. · 4 citations · ⚡1