3 papers
cs.RO2026
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…
cs.AI2026
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 p…
cs.CV2026
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…