Author

Zhi-Yuan Zhang

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Preprint Sep 2026

What is the Better Curriculum: Controller-Shaped Grasping Behavior for Contact Force-Sensitive Manipulation

How should a robot learn to manipulate objects so fragile that sub-Newton contact forces can cause irreversible damage? Existing visuo-tactile policy learning typically treats tactile sensing as an additional policy input. In direct-contact force-sensitive manipulation, however, the bottleneck can arise earlier, during...

Zi-Yang Feng, Zi-Zhao Yuan, Yu-Long Fu et al. · 0 citations

Preprint Sep 2026

UniMo: Unifying Human and Animal Motion Generation

The conditional generation of 3D motion has emerged as a key research topic due to its wide applicability across robotics, AR/VR, gaming, and content creation. However, extending recent advances in text-driven human motion generation to the animal domain remains challenging due to two core limitations. First, animals e...

Ze-Yu Zhang, Zhi-Yuan Zhang, Siheng Wang et al. · 0 citations