Author

Jing-Yao Tang

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Preprint Sep 2026

TAO-Force: Unifying Force-Aware Perception and Fast-Slow Control for Contact-Rich Manipulation

Vision-Language-Action (VLA) models have demonstrated strong performance across diverse robotic manipulation tasks, yet their predominantly vision-centric perception and position-controlled execution remain insufficient for contact-rich manipulation. Visual observations alone often provide limited evidence of contact o...

Bo-Han Gan, Xuan Wen, Yong-Shen Zhao et al. · 0 citations

#artificial intelligence Preprint Sep 2026

TAO-DA: Towards Autonomous Operation--A Dual-Arm Vision-Language-Action Model for Coordinated Manipulation

A symmetric Dual-Arm Expert (DAE) architecture built upon a shared Vision-Language Model (VLM) backbone with decoupled, arm-specific expert towers is proposed, providing preliminary evidence of emergent skill generalization from single- to dual-arm tasks (as well as the reverse), together with cross-arm motion-domain s...

Yong-Shen Zhao, Han Gao, Bao-Ping Cheng et al. · 0 citations