Author

Ze-Yuan Ren

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Preprint Oct 2026

GRASP: Global-Local Representation Alignment and Spatial-Physical Grounding for Bimanual Robotic Manipulation

Vision-Language-Action (VLA) models that directly regress joint-space actions avoid the deployment-time cost of inverse kinematics. However, their training objectives remain misaligned with task success, as joint-space losses ignore the unequal physical consequences of joint errors and visual conditioning lacks explici...

Ze-Yuan Ren, Guan-Xun Zhao, Qi Li et al. · 0 citations

Conference Aug 2026

Cone-Constrained Human-in-the-Loop Shared Control with 3D Diffusion Policy for Dexterous Tool Manipulation

Dexterous hands for intelligent manufacturing are being extensively studied with the development of humanoid robot technology. Nevertheless, fine-grained human-robot collaborative dexterous hand tool operations remain challenging because they require precise control, while teleoperation imposes a high burden on the ope...

Ze-Yuan Ren, Ziao Liu, Ben-Hua Gao et al. · 2026 IEEE 22nd International... · 0 citations