Authors

Zhenjia Xu

Publications 2

Preprint Open access

DexTaG: Tactile-as-Guidance in Reinforcement Learning for Dexterous Manipulation

Han Yang, Yian Wang, Yunlong Song et al. · 2026

Glove-based motion capture is emerging as a scalable approach to collecting dexterous-hand demonstration data. However, due to the kinematic gap between the human and robot hand, the recorded human motions cannot be executed directly on the robot, especially for contact-rich tool-use tasks involving in-hand reorientati …

Preprint Open access

Self-Adaptive VLA for Robust Robot Deployment

Hongxin Zhang, Chunru Lin, Tsun-Hsuan Wang et al. · 2026

While Vision-Language-Action (VLA) models demonstrate impressive capabilities in robotic manipulation, their memoryless nature renders them brittle to test-time environment shifts, particularly hardware shifts caused by wear or imperfect calibration. Enabling these models to self-adapt during deployment without requiri …

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