Author

Yi-Dong Wang

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Preprint Sep 2026

STAR: Sparse Tactile Representation Learning in Vision-Tactile-Language-Action Models for Dexterous Manipulation

Dexterous manipulation requires coordinated multi-finger control and effective tactile feedback, yet learning these capabilities remains challenging due to the lack of large-scale real-world data and the difficulty of extracting effective representations from sparse tactile signals. We build a robot platform and teleop...

Xiang-Cheng Liu, Tian-Hao Wu, Le Zheng et al. · 0 citations

Preprint Aug 2026

TrustRoboReward: Preference-Ordered Isotonic Score Editing for Multi-Paradigm Robot Reward Models

Reward models are a bottleneck for reinforcement learning in embodied AI. Long-horizon robotic manipulation requires scalable vision feedback beyond handcrafted rewards or task-specific annotations. Existing open-source VLM reward judges like RoboReward adopt simple 1--5 trajectory progress scoring, lacking pairwise pr...

Yi-Dong Wang, Yan Zhan, Ziteng Feng et al. · 0 citations