Author

Ju Dong

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Preprint Sep 2026

ForceDelta-VLA: Distilling Force-Conditioned Action Corrections for Contact-Rich Manipulation

ForceDelta-VLA is presented, a correction-distillation framework that constructs an explicit force-correction target using paired predictions from a frozen teacher's force-conditioned and learned force-agnostic modes, and reduces mean peak contact force over successful trials by approximately 26% on both platforms.

Ju Dong, Yuan-You Fu, Jian Chen et al. · 1 citation

Preprint Sep 2026

Behavior-Aligned Action Tokenization for Robot Policy Learning

Autoregressive robot policies learn continuous control by predicting discrete action tokens from observations. Different tasks often share local motions, yet behavioral correspondence across demonstrations receives limited explicit supervision in existing tokenizers. Motions with different timing can therefore lack a s...

Ju Dong, Ze Chen, Zhen-Dong Xie et al. · 1 citation · ⚡1