Author

Hang Zhang

3 papers indexed here

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Preprint Oct 2026

SimpleTouch: Can Vision-Language-Action Models Master Contact-Rich Manipulation Without Tactile Policy Pretraining?

Tactile sensing provides essential contact information for robotic manipulation, yet incorporating it into pretrained vision-language-action (VLA) models remains challenging. A common concern is that simply introducing touch during task-specific fine-tuning may fail to bridge the cross-modal gap, yielding limited gains...

Chen Yang, Lin-Zhe Shi, Chang Jie Wu et al. · 0 citations

#artificial intelligence Preprint Sep 2026

CapMem: A Benchmark for Caption-Based Episodic Memory in Egocentric Video

Results support the effectiveness of caption memory for episodic reasoning over long egocentric video in wearable assistants with bounded frame budgets, growing visual-token costs, and long-context retrieval failures.

Dingli Liang, Yi Xie, Yu-Kai Huang et al. · 0 citations

#computer vision Preprint Sep 2026

Caption-once, Frames-on-Demand: Visual-Need Routing for Budget-Aware Agentic Long Video Understanding

This work proposes Caption-once, Frames-onDemand (CFD), a budget-aware edge-cloud agentic framework that turns visual access into a first-class, query-conditioned cost, capping per-query frame consumption regardless of video length.

Wei-Tong Cai, Hang Zhang, Yu-Kai Huang et al. · 2 citations