Author

Yuxuan Gao

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Preprint Aug 2026

DriftingVLA: Native One-Step Vision-Language-Action Generation via Per-Dimension Temporal Drifting

Conventional flow-based vision-language-action (VLA) models support expressive continuous action generation but rely on multi-step refinement to produce each action chunk, increasing latency in online robot control. To address this issue, we introduce DriftingVLA, a native one-step VLA that generates a complete action...

Yuxuan Gao, Shi-Qi Zhang, Yedong Shen et al. · 3 citations · ⚡1

Preprint Aug 2026

ReTouch: Empowering Contact-Rich Dexterous Manipulation with Online-Refined Tactile Prediction

ReTouch is introduced, a vision-language-action model (VLA) that supports contact-rich dexterous manipulation through tactile predictions continually refined online using execution-time feedback, and keeps tactile predictions aligned with evolving physical interactions, enabling responsive action correction and improvi...

Shi-Qi Zhang, Xin Zhang, Yedong Shen et al. · 4 citations