Author

Ting-Guang Li

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Preprint Sep 2026

ActGaze: Learning Action-Grounded Gaze through Counterfactual Visual Interventions for High-Precision Manipulation

Current Vision-Language-Action (VLA) models often struggle with high-precision robotic manipulation. We attribute this limitation primarily to their visual attention being dispersed across task-irrelevant regions. To address this issue, we propose ActGaze, a training approach that guides VLA policies to gaze on task-re...

Jin-Xuan Zhu, Jia-Heng Wang, Chao Tang et al. · 0 citations

Preprint Sep 2026

PSR: Predictive Sensorimotor Representation Learning for Contact-Rich Manipulation

Contact-rich manipulation requires policies to generate precise actions by reasoning over contact forces, robot configurations, and interaction histories beyond visual observations. Existing methods passively condition on force feedback rather than actively predicting future contact dynamics, limiting their ability to...

Sheng-Bao Li, Peng Xu, Chao Tang et al. · 0 citations

#machine learning Preprint Sep 2026

RoboICL: Embodied In-Context Learning with GPT-6 Astra

General-purpose vision-language models offer a promising way to zero-shot robot control: \gptastra{} excels at open-ended and language- or image-conditioned manipulation but remains substantially weaker on high-precision and long-horizon tasks. We introduce \emph{RoboICL}, an in-context robot-control framework that nar...

Fang-Cheng Liu, Ye-Qing Shen, An-Da Cheng et al. · 0 citations