Authors

Shuo Jiang

Publications 2

Preprint Open access

OccluDex: Hierarchical 3D Visuo-Tactile Representation Learning for Egocentric Dexterous Manipulation under Self-Occlusion

Ziheng Xu, Yueyuan Chen, Xinyuan He et al. · 2026

Reliable dexterous manipulation requires continuous estimation of object geometry and hand-object contact throughout interaction. With egocentric sensing, however, the manipulating hand frequently occludes task-relevant object surfaces and contact regions, reducing the visual evidence available for state estimation and …

Preprint Open access

What Visual Generators Need from Teachers: Rethinking Representation Alignment

Yongcong Wang, Hingchin Chen, Mingyu Fan et al. · 2026

Representation alignment speeds up diffusion transformer training by pulling an intermediate block of the model (student) toward features of a frozen pretrained encoder (teacher). Which teacher layer to align, and for how long, is still set by convention, and each alternative costs a training run. We find that alignmen …

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