Author

Yi-Ming Wang

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Preprint Oct 2026

PEARS: Physical-Prior-Guided Efficient Adaptation via Failure Reasoning and Diffusion Steering for Tactile Manipulation

Pretrained robotic policies can suffer substantial performance degradation under out-of-distribution (OOD) conditions encountered during deployment, motivating post-training through real-world interaction. However, reinforcement-learning (RL)-based post-training typically requires substantial environment interactions,...

Kun Song, Yi-Ming Wang, Yi-Lin Chen et al. · 0 citations

Preprint Sep 2026

GLoTouch: Global-to-Local Haptic Perception Using a Parallel Gripper for Object Search, Recognition, and Grasping Without External Vision

Perceiving objects in the environment is a fundamental capability of autonomous robots. In dark or low-light environments, external cameras often fail to reliably perceive object positions and geometry; when visual sensing is unavailable, completing target search, recognition, and grasping through touch alone becomes a...

Zong-Lin Li, Wan-Ruo Zhang, Yi-Ming Wang et al. · 0 citations