Author

Ru-Yang Han

2 papers indexed here

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Preprint Oct 2026

FR-VLA: Implicit Force Reasoning VLA for Contact-Rich Manipulation

Integrating force awareness into Vision-Language-Action (VLA) models involves not merely encoding wrench measurements as an additional modality, but determining when and how strongly physical interaction should influence robot action generation. Existing VLAs that use force typically inject it through a fixed pathway,...

Jia-Ju He, Zhi-Yuan Yang, Ru-Yang Han et al. · 0 citations

Preprint Sep 2026

MotionForge: A Data Generation Pipeline and Large-Scale Benchmark for Long-Horizon Manipulation of Dynamic Objects with Domain Shifts

Recent advances in learning-based robot policies have demonstrated promising progress, yet they are predom- inantly evaluated in static or quasi-static environments. In dynamic manipulation, objects and scenes continuously evolve while the robot perceives, reasons, and acts. However, recent dynamic simulation benchmark...

Mo-Han Liu, Deng-Chen Mei, Hao-Tian Xian et al. · 0 citations