2 citations · 2 across the 5 of their papers we have counts for
5 papers
EgoTac: In-the-wild Tactile Prediction from Egocentric Vision
Wenkang Zhang, Chengbo Yuan, Zicheng Zhang +2
Touch is fundamental to dexterous manipulation, yet most egocentric human data increasingly used for robot learning lacks tactile information. Directly collecting large-scale tacti…
FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation
Chengbo Yuan, Zicheng Zhang, Mingjie Zhou +14
Despite the success of vision-based generalist robotic policies, existing tactile-based policies remain tied to fixed embodiments and sensor setups. This is because tactile signals…
The Hidden Power of Scaling Factor in LoRA Optimization
Zicheng Zhang, Haoran Li, Jiaxing Wang +10
In Low-Rank Adaptation (LoRA), the scaling factor is often treated as a mere complement to the learning rate, yet its role in optimization remains poorly understood. In this pa…
Resolving Endpoint Underfitting in Diffusion Bridges via Noise Alignment
Yurong Gao, Zicheng Zhang, Congying Han +2
Diffusion bridge models offer a powerful framework for connecting two data distributions, such as in image restoration and translation. Many existing methods learn this bridge by m…
Mimose: An Input-Aware Checkpointing Planner for Efficient Training on GPU
Jianjin Liao, Mingzhen Li, Qingxiao Sun +8
Larger deep learning models usually lead to higher model quality with an ever-increasing GPU memory footprint. Although tensor checkpointing techniques have been proposed to enable…