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cs.RO2026
APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
Kechun Xu, Zhenjie Zhu, Anzhe Chen +2
Vision-Language-Action (VLA) models that couple pretrained Vision-Language Models (VLMs) with continuous action experts have achieved strong manipulation performance, yet generaliz…
cs.RO2026
TDC: Sim-to-Real Transferable Directional Compliance for Contact-Rich Manipulation
Yifei Yang, Anzhe Chen, Zhenjie Zhu +6
Contact-rich manipulation requires robots to regulate both motion and interaction forces, yet achieving adaptive compliance remains a fundamental challenge. Learning from real-worl…