Author

Li-Ding Zhang

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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

Gated Residual Body-Hand Coordination for Whole-Body Humanoid Teleoperation

This work presents a gated residual coordination framework that keeps both modules frozen and applies bounded corrections to their outputs, and describes the contributions of reward gating, adaptive correction authority, and separate body and hand correction heads.

Rui Wu, Shuang Li, Li-Ding Zhang et al. · 1 citation