Author

Hao Yang

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Preprint Sep 2026

Object-Centered Reconstruction for Vision-Based 3D Force Estimation

Excessive force may damage tissue and increase the risk of anastomotic leakage in robotic colorectal surgery. Although the da Vinci 5 provides force sensing, this capability is unavailable on earlier da Vinci systems and many other surgical robotic platforms. In this work, we present a vision-based pipeline for estimat...

Zhong-Hao Zhang, Ming-Yeung Wu, Hao Yang et al. · 0 citations

#artificial intelligence Jul 2026

Never Too Late for Force: Accelerating VLA Post-Training with Reactive Force Injection

Across towel folding, book insertion, and Hanoi ring placement, LIFT learns faster and reaches higher performance than vision-only post-training, while ablations show that reactive force memory and online corrective data are both important for robust contact-rich manipulation.

Yi Wang, Wen-Di Chen, Zi-Mo Wen et al. · arXiv.org · 4 citations