Author

Heng Zhang

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Preprint Sep 2026

DriveZero: End-to-End Driving Beyond Human Demonstrations

Most end-to-end autonomous-driving systems learn by imitating human driving logs, leaving their learned behavior constrained by the quality and behavioral coverage of the recorded trajectories. This report presents DriveZero, an end-to-end system that learns driving behavior beyond human demonstrations. It decomposes d...

Hao He, Cheng-Cheng Hu, Zi-Run Su et al. · 0 citations

#artificial intelligence Preprint Sep 2026

DeCAL: Towards Physically-Grounded Dexterous Vision-Language-Action Models via Contact-Aware Latent Co-Imagination

Dexterous manipulation involves contact-rich and fine-grained interactions with the physical world, posing significant challenges for existing vision-language-action (VLA) models due to severe visual occlusions and complex contact dynamics. While recent works have incorporated tactile sensing into robotic manipulation,...

Yan-Kai Fu, Ning Chen, Jun-Kai Zhao et al. · 0 citations