Author

Yan Huang

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Preprint Aug 2026

UniReflex: Plug-and-Play Force Control for Pretrained Generative Policies via Fast-Slow Reflex

Generative imitation learning policies excel at trajectory planning but lack closed-loop force regulation, while directly incorporating force modalities often requires redesigning or retraining the network. We present UniReflex, a universal plug-and-play framework that equips frozen generative policies with variable im...

Yan Huang, Shou-Jie Li, Zi-Wu Song et al. · 2 citations · ⚡1

Preprint Aug 2026

VISTA: Visually Inferred Spatial ConTact Attention for Contact-Rich Manipulation

Contact-rich manipulation requires precise interaction feedback. While vision-centric imitation learning is prevalent, external visual observations provide indirect and ambiguous cues about contact states, particularly under occlusion or subtle object--gripper interactions; dedicated tactile or force sensors can provid...

Jiaying Chen, Wen-Long Dong, Yan Huang et al. · 0 citations