Author

Jia Pan

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Preprint Aug 2026

ReTouch: Empowering Contact-Rich Dexterous Manipulation with Online-Refined Tactile Prediction

ReTouch is introduced, a vision-language-action model (VLA) that supports contact-rich dexterous manipulation through tactile predictions continually refined online using execution-time feedback, and keeps tactile predictions aligned with evolving physical interactions, enabling responsive action correction and improvi...

Shi-Qi Zhang, Xin Zhang, Yedong Shen et al. · 4 citations

Preprint Aug 2026

EvoHIL: Self-Evolving Reward and Flow-Matched Policy Optimization for Robust Human-in-the-Loop Reinforcement Learning

EvoHIL is presented, a unified framework that adapts the reward model, action generator, and visual do main within a staged human-in-the-loop learning process to improve task success, agreement with human-confirmation labels, motion smoothness, and completion time relative to human-in-the-loop and imitation baselines.

Shuoqing Zhang, Tongtong Cheng, Xiru Gao et al. · 0 citations