Author

Hong Zhang

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Preprint Sep 2026

Function beyond Form: Functional Correspondence for Cross-Embodiment Dexterous Grasp Generation

Cross-embodiment dexterous grasp generation remains challenging because robotic hands differ substantially in geometry, topology, and kinematics. Existing approaches often lack explicit correspondences between structurally different hand regions that play similar functional roles in a grasp, a concept we refer to as fu...

Bo Zou, Wen-Long Dong, Mu Ai et al. · 0 citations

Preprint Oct 2026

eRLT: Efficient VLA Reinforcement Learning via Action-Relevant Token Routing

Vision-Language-Action (VLA) models provide strong behavioral priors for robotic manipulation, yet efficiently adapting them to downstream tasks remains challenging. Recent work addresses this challenge by adapting frozen VLAs through online reinforcement learning (RL), whose sample efficiency depends on the quality of...

De-Hao Huang, Jian-Bang Liu, Jian-Pan Gao et al. · 0 citations

Preprint Sep 2026

Text-Vision Synergistic Token Caching: A Training-Free Framework for Efficient Vision-Language-Action Inference

Vision-Language-Action (VLA) models enable generalizable robotic control but remain computationally expensive. Token caching provides a training-free, plug-and-play acceleration alternative. However, existing VLA caching does not fully exploit a key inductive bias of VLA models: text-vision synergy, wherein textual sem...

Qian-Er Li, Cheng-Jie Zhang, Jing-Wen Chen et al. · 0 citations