Author

Ju Dong

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Preprint Sep 2026

ForceDelta-VLA: Distilling Force-Conditioned ActionCorrections for Contact-Rich Manipulation

Force-aware Vision-Language-Action (VLA) policies improve contact-rich manipulation, but typically combine task-level motion and contact-dependent adjustment in a single action prediction. Demonstrations provide no explicit labels for decomposing that prediction into a reusable reference action and a correction. We pre...

Ju Dong, Yuan-You Fu, Jian Chen et al. · 0 citations

Preprint Sep 2026

Behavior-Aligned Action Tokenization for Robot Policy Learning

Autoregressive robot policies learn continuous control by predicting discrete action tokens from observations. Different tasks often share local motions, yet behavioral correspondence across demonstrations receives limited explicit supervision in existing tokenizers. Motions with different timing can therefore lack a s...

Ju Dong, Ze Chen, Zhen-Dong Xie et al. · 0 citations