Author

Peng-Fei Ye

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Preprint Oct 2026

ACTS: Learning Visuo-Tactile World Models from Human Physical Interaction

Abstract Action-conditioned world models for contact-rich manipulation require data that captures how contact forms, slides, and releases under varying force. Such data are slow to collect through robot teleoperation, which often lacks force feedback and is constrained by gripper geometry. We ask whether these dynamics...

Yu-Xiang Ma, Wei-Han Xu, Peng-Fei Ye et al. · 0 citations

Preprint Sep 2026

GlowTact: Simple and Compact Vision-Based Tactile Sensing with High Sensitivity and Spatial Resolution

GlowTact, a pressure-responsive vision-based tactile sensing mechanism that directly visualizes contact pressure, is introduced, combining a durable nitrile membrane and simple optical design with sensitive and information-rich tactile perception.

Yu-Xiang Ma, Megha Tippur, Peng-Fei Ye et al. · 0 citations

Preprint Sep 2026

A Brain-inspired Hierarchical Framework for Zero-Shot Robot Task Reasoning and Execution

Robots that follow open-ended language instructions need to connect semantic intent to visual scene understanding, geometric feasibility, object states, and physical interaction conditions. End-to-end Vision-Language-Action policies have improved cross-task generalization, but they typically map visual and language inp...

Guang-Ming Wang, Peng-Fei Ye, Qi-Zhen Ying et al. · 0 citations