Author

Jun-Kai Zhao

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Preprint Sep 2026

HACo: Learning Haptic Active Compliance for Force-Aware Dexterous Manipulation

Contact-rich dexterous manipulation requires policies that translate physical feedback into motion commands while regulating interaction loads across evolving multi-contact interactions. This requires haptic observations of contact state and action supervision showing how commands should adapt. Existing policies often...

Nai-Sheng Ye, Yin-Zhe Zhou, Jun-Kai Zhao et al. · 0 citations

Preprint Sep 2026

DexRoam: Learning Mobile Bimanual Dexterous Manipulation from Egocentric Whole-Body Human Demonstrations

Mobile bimanual dexterous manipulation requires continuous coordination of locomotion, whole-body motion, and finger-level dexterity within a single trajectory, creating a severe robot demonstration bottleneck. Egocentric human demonstrations offer a scalable alternative, but prior approaches ease the transfer by simpl...

Rui Zhou, Yi-Bo Yuan, Jun-Kai Zhao et al. · 0 citations

#artificial intelligence Preprint Sep 2026

DeCAL: Towards Physically-Grounded Dexterous Vision-Language-Action Models via Contact-Aware Latent Co-Imagination

DeCAL is presented, a physically-grounded dexterous vision-language-action model that unifies understanding, imagination and action generation for contact-rich dexterous manipulation and introduces Adaptive Visuo-Tactile Fusion that dynamically regulates tactile interactions via a contact-aware gating strategy.

Yan-Kai Fu, Ning Chen, Jun-Kai Zhao et al. · 0 citations