Author

Wenlong Dong

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Preprint Aug 2026

VISTA: Visually Inferred Spatial ConTact Attention for Contact-Rich Manipulation

Contact-rich manipulation requires precise interaction feedback. While vision-centric imitation learning is prevalent, external visual observations provide indirect and ambiguous cues about contact states, particularly under occlusion or subtle object--gripper interactions; dedicated tactile or force sensors can provid...

Jiaying Chen, Wen-Long Dong, Yan Huang et al. · 0 citations

Jul 2026

Dual-Process Atomic Skill Learning: Decoupling Semantic Reasoning and Real-Time Control

This work proposes Dual-Process Atomic Skill Learning (DASL), a novel asynchronous hierarchical imitation learning framework that decouples slow semantic reasoning from fast, real-time motion control and mitigates the skill codebook interference problem common in joint training paradigms.

Jun Chen, Erdent Bao, Wenlong Dong et al. · arXiv.org · 0 citations