Author

Zi-Hao Wang

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Preprint Sep 2026

Uni-VLaT: Whole-Body Tactile Adaptation of VLA Policies for Humanoid Loco-Manipulation

Physical contact often determines how a humanoid should respond during loco-manipulation, yet vision and proprioception alone are often insufficient to characterize physical interaction, especially when the contact region is occluded. Unlike sparse force or torque measurements at predefined regions, distributed tactile...

Zi-Hao Wang, Shu-Tong Liu, Si-Qi Zheng et al. · 0 citations

#machine learning Preprint Sep 2026

SMAT: Simple and Efficient Merge-Aware Training

SMAT (Simple MAT) is introduced, which jointly optimizes expert loss and expected loss at simulated merged parameters generated by sampling scaling coefficients, masks, and additive noise, and improves the mean score across five merging methods.

Yang-Gan Gu, Yuan-Yi Wang, Zhen Li et al. · 0 citations