Author

Jia-Hang Cao

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Preprint Aug 2026

Tac4Loco: Learning Spatiotemporal Plantar Pressure Representations for Humanoid Locomotion

Humanoid robots are expected to traverse complex terrains, where the plantar support may vary dramatically due to foot placement errors, ground properties, and transient dynamics. To achieve robust locomotion, the robots are required to adapt to uneven terrain and uncertain foot--ground interactions. Existing locomotio...

Zi-Yun Liu, Si-Kai Guo, Zheng Li et al. · 0 citations

Preprint Sep 2026

Function-Preserving Data Generation for Zero-Shot Real-to-Sim-to-Real Manipulation

Robotic data generation is a promising paradigm for scaling robot learning without collecting large-scale real-world data. However, generating geometrically diverse yet physically valid data for contact-rich tasks remains challenging, especially when success depends on precise geometric interfaces. Standard shape augme...

Tian-Yi Xiang, Xupeng Xie, Jia-Hang Cao et al. · 0 citations

#machine learning Preprint Oct 2026

Encoded but Not in Control: Revealing the Grounding Gap in Vision-Language Robot Policies

Instruction following is central to language-conditioned robot policies: language should determine what to do when the same scene permits multiple valid actions. Yet successful execution alone cannot establish whether a policy follows the instruction or infers the task from the scene. We study this ambiguity through sc...

Shao-Han Jiang, Jia-Hang Cao, Qi-Duo He et al. · 0 citations