Author

Yurou Chen

2 papers indexed here

We haven’t gathered this author’s papers yet. Follow them and we’ll fetch their work.

Not the right person? Other researchers publish under this name.

Preprint Sep 2026

Proprioception-Anchored Cross-Modal Pretraining for Zero-Shot Sim-to-Real Contact-Rich Assembly

PACE (Proprioception-Anchored Cross-Modal Encoder) is presented, which supervises temporal visual and F/T representations by predicting proprioceptive state transitions and is robust to perturbations that substantially degrade pose-based and learned-fusion baselines.

Yu-Han Wang, Yurou Chen, Hong-Ye Jiang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Zero-Shot Sim-to-Real Contact-Rich Assembly via Proprioception-Anchored Cross-Modal Pretraining

Contact-rich assembly remains challenging because it requires submillimeter spatial accuracy and reliable interpretation of forces during sustained contact. Although simulation-based reinforcement learning offers a scalable training paradigm, discrepancies in visual observations, contact dynamics, and force/torque (F/T...

Yu-Han Wang, Yurou Chen, Hong-Ye Jiang et al. · 0 citations