Author

Tong Wu

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Preprint Oct 2026

Spark-0: Scaling Spatially Aligned Tactile Pretraining for Robot Dexterous Manipulation

Generalist robot policies benefit from large-scale visual pretraining but often struggle with contact-rich dexterous manipulation, where force, compliance, and incipient slip are hard to observe from images. We present Spark-0, a spatially aligned vision-tactile-language-action (VTLA) model that uses touch in two compl...

Tian-Xing Chen, Wen-Wei Lin, Chuqiao Lyu et al. · 0 citations

Preprint Sep 2026

In-Context Robot Learning with VLM Agents

GPT-Policy is introduced, a general-agent framework for in-context robot learning that integrates a context compiler that preserves task-relevant visual transitions, a VLM that proposes robot-tool actions, and a constrained controller that verifies and executes each action and reports its outcome.

Dong-Zhou Cheng, Taoran Yi, Ye Fang et al. · 15 citations · ⚡4