Author

Yi Wang

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#artificial intelligence Jul 2026

Never Too Late for Force: Accelerating VLA Post-Training with Reactive Force Injection

Across towel folding, book insertion, and Hanoi ring placement, LIFT learns faster and reaches higher performance than vision-only post-training, while ablations show that reactive force memory and online corrective data are both important for robust contact-rich manipulation.

Yi Wang, Wen-Di Chen, Zi-Mo Wen et al. · arXiv.org · 4 citations

Preprint Aug 2026

ViTaR: Visuo-Tactile Residual Adaptation for Foundation VLA Manipulation

ViTaR is introduced, which reframes tactile feedback from an action-generating perceptual input to an execution modulator that selects and scales bounded residual corrections atop a frozen VLA, preserving pretrained capabilities by construction.

Yi Wang, Ren-Jun Wu, Jin-Yan Liu et al. · 0 citations