Tong Yang — Papers on Cortexa

arxivcs.RO2026-07-16

Representation-Aligned Tactile Grounding for Contact-Rich Robotic Manipulation

Ruilin Chen, Jingkai Jia, Tong Yang, Xinyu Zhou, Qiao Sun, Jiangwei Zhong, et al.

Tactile-enhanced vision-language-action (VLA) policies have been introduced for contact-rich manipulation, where critical interaction states are often hidden from vision. Future tactile prediction is a promising way to use touch because it turns tactile outcomes into supervision…

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arxivcs.ROcs.CV2026-06-29

Training Vision-Language-Action Models with Dense Embodied Chain-of-Thought Supervision

Haoyang Li, Guanlin Li, Youhe Feng, Chen Zhao, Zhuoran Wang, Yang Li, et al.

Cross-embodiment transfer in vision-language-action (VLA) models remains challenging because low-level state and action spaces differ fundamentally across robot platforms. We observe that the high-level cognitive process underlying manipulation, including scene perception, object…

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