Authors

Alberta Longhini

Publications 2

Preprint Open access

SoTa: Soft Tactile Skins for Dexterous Manipulation

Jingyun Yang, Baiyu Shi, Timothy Yu et al. · 2026

A growing body of work suggests that tactile sensing gives robot policies contact information that complements vision in dexterous manipulation. However, visuo-tactile robot data remains scarce: dexterous demonstrations require teleoperating robots, which limits dataset scale. Human demonstrations are far cheaper to co …

Preprint Open access

Direction-Scale Decomposition in Action Representation: Rethinking What to Tokenize for Vision-Language-Action Models

Yufei Duan, Hang Yin, Alberta Longhini et al. · 2026

Action representation plays a central role in discrete-token vision-language-action (VLA) learning but remains underexamined. Under conventional pose-increment representations, action tokens are sensitive to execution speed and dataset-specific normalization, potentially obscuring geometric structure shared across demo …

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