Author

Haonan Chen

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Preprint Sep 2026

GlowTact: Simple and Compact Vision-Based Tactile Sensing with High Sensitivity and Spatial Resolution

Vision-based tactile sensors (VBTS) provide rich contact information for robotic manipulation, but existing designs can be hard to simplify and adapt to the size and constraints of humanoid fingertips. We introduce \textbf{GlowTact}, a pressure-responsive vision-based tactile sensing mechanism that directly visualizes...

Yu-Xiang Ma, Megha Tippur, Peng-Fei Ye et al. · 0 citations

#artificial intelligence Preprint Sep 2026

MA-FPPO: Multi-Agent Flow-Pretrained Policy Optimization

This work proposes Multi-Agent Flow-Pretrained Policy Optimization (MA-FPPO), which uses online fine-tuning to improve the cooperative behavior of models pretrained with flow matching through new interactions with the environment.

Guo-Wei Zou, Hao-Nan Chen, Hai-Tao Wang et al. · 0 citations

Preprint Aug 2026

ARGUS: Aligning Robot Scene Geometry Under Shifting Views with Large 3D Vision Models

ARGUS is presented, an observation pre-processing pipeline that uses large-scale 3D vision models to align image observations from arbitrary camera viewpoints into a canonical viewpoint before passing it to downstream visuomotor policies, enabling more efficient learning from large-scale, viewpoint-diverse robot datase...

Rishik Sathua, Hao-Nan Chen, K. Driggs-Campbell · 0 citations

Preprint Sep 2026

A Brain-inspired Hierarchical Framework for Zero-Shot Robot Task Reasoning and Execution

Robots that follow open-ended language instructions need to connect semantic intent to visual scene understanding, geometric feasibility, object states, and physical interaction conditions. End-to-end Vision-Language-Action policies have improved cross-task generalization, but they typically map visual and language inp...

Guang-Ming Wang, Peng-Fei Ye, Qi-Zhen Ying et al. · 0 citations

#machine learning Jul 2026

DriftWorld: Fast World Modeling through Drifting

Predictive world models enable robots to plan by imagining the outcomes of their actions, but their value for control hinges on generating many rollouts quickly. This creates a bottleneck for diffusion-based world models: multistep sampling makes each rollout expensive, limiting large-scale action search at inference t...

Susie Lu, Haonan Chen, Weirui Ye et al. · arXiv.org · 0 citations

Jul 2026

Masked Visual Actions for Unified World Modeling

Masked Visual Actions is introduced, a pixel-space control interface that expresses action as a partially revealed trajectory of an arbitrary entity in a video that supports inverse modeling by synthesizing robot motion from desired object motion.

Hadi Alzayer, Wenlong Huang, Haonan Chen et al. · arXiv.org · 3 citations · ⚡1