Author

Zichen Jeff Cui

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Preprint Nov 2026

PanoTac: A Dense Three-Axis Tactile Sensor for Robust Touch-Centric Manipulation

Contact-rich manipulation benefits from tactile feedback that captures both detailed contact geometry and interaction forces. When scooping grains, contact patterns help infer spoon orientation, while resistance transmitted through the grasp guides motion. To provide these complementary sensing capabilities, we present...

Bing-Lin Wang, Xiao-Le Jiang, Zi-Cheng Teng et al. · 0 citations

#artificial intelligence Preprint Oct 2026

Hierarchical World Models with Implicit Dynamics

This work introduces ID-WM (Implicit Dynamics World Models), a hierarchical world model that decouples state-space reachability from local control and yields a 135% performance gain over single-level world model MPC, particularly in complex, unseen configurations for long-horizon tasks.

Gao-Yue Zhou, Yvonne Wu, Zichen Jeff Cui et al. · 0 citations

Jul 2026

Patch Policy: Efficient Embodied Control via Dense Visual Representations

This work believes Patch Policy provides a pipeline for the robotics community to readily leverage continuing progress in visual representation learning, without sacrificing the training efficiency or inference speed required for high-frequency, reactive control.

Gaoyue Zhou, Zichen Jeff Cui, Ada Langford et al. · arXiv.org · 0 citations