Authors

Dayou Li

Publications 2

Preprint Open access

TouchScale: 500 Hours of Human Vision and Touch for Visual-Tactile Learning

Dayou Li, Hao Wang, Qianqian Yang et al. · 2026

Large-scale egocentric human interaction data is becoming an important source of physical supervision for embodied learning, yet video alone leaves the contact and pressure that characterize physical interaction unrecorded. Recent visual-tactile datasets provide this missing supervision, but their synchronized tactile …

Preprint Open access

RoboIRS: Inference-Time Internal Representation Steering for Generalist Robot Policies

Jiuzhou Lei, Chang Liu, Dayou Li et al. · 2026

Vision-language-action (VLA) and world-action models (WAMs) often degrade under out-of-distribution task variations despite retaining partial task capability. To recover such capability, we propose RoboIRS, an inference-time internal representation steering method that uses successful and failed rollouts to train linea …

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