Author

Zhe-Nan Bao

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Preprint Sep 2026

VisTacAlign: Co-Training Dexterous Policies on Tactile Human and Robot Demonstrations using Visual-Tactile Alignment

Human demonstrations are a cheap source of data for dexterous manipulation, but co-training a robot policy on them requires closing the human--robot gap in every modality the policy consumes. We present VisTacAlign, a framework for co-training 3D-visual-tactile dexterous policies on human and robot demonstrations. Glov...

J. Poffet, M. Strong, Ankush Dhawan et al. · 0 citations

#machine learning Preprint Oct 2026

SoTa: Soft Tactile Skins for Dexterous Manipulation

A growing body of work suggests that tactile sensing gives robot policies contact information that complements vision in dexterous manipulation. However, visuo-tactile robot data remains scarce: dexterous demonstrations require teleoperating robots, which limits dataset scale. Human demonstrations are far cheaper to co...

Jing-Yun Yang, Bai-Yu Shi, Timothy Yu et al. · 0 citations

Open access Aug 2026

Interfacial Lithium Redox Kinetics Regulated by Solvent Asymmetry and Moment of Inertia in Li Metal Batteries.

Lithium metal batteries (LMBs) offer high energy density, but interfacial charge-transfer kinetics remain a bottleneck for high-rate operation. In this work, we construct a library of 12 ether solvents with systematic variations in symmetry and fluorination, confirming that molecular asymmetry is an important feature t...

Il Rok Choi, Aditya Shah, Jeffrey Heo et al. · Journal of the American Chem... · 0 citations