Yu She

ContactWorld: What Representations Matter for Vision-Tactile World Models in Contact-Rich Manipulation

TAC-LOCO: Unified Whole-Body Control for Quadrupedal TACtile-Informed LOCO-Manipulation

TAC-LOCO is proposed, a tactile-augmented unified reinforcement learning framework that encodes tactile array observations from compliant grippers into a compact latent representation and joins it with proprioception for unified control of the legs, arm, and gripper.

PHR-VLA: Planning Horizon Reasoning for Vision-Language-Action Models

PHR-VLA introduces a lightweight auxiliary future head that, during training, aligns the VLA's internal representations with latent dynamics extracted from future observations, demonstrating that privileged latent dynamics alignment provides an effective training signal for improving anticipatory reasoning in VLA polic...