Author

Linzhe Shi

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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

Preprint Aug 2026

Revisiting Local Context for Long-Horizon Streaming 3D Reconstruction

ABot-Recon is presented, a simple streaming model that caches KV features from only the preceding 11 frames and predicts a point map in the current camera coordinate system together with an adjacent-frame relative pose that remains equivariant under changes of reference frame.

Jiarong Han, Jincheng Xiong, Yu-Zhou Liu et al. · 1 citation