Yihuai Gao

Multisensory Continual Learning: Adapting Pretrained Visuomotor Policies to Force

Jaden Clark, Changhao Wang, Yihuai Gao, Seongheon Hong, Hojung Choi, Mark Cutkosky, et al.

Robot manipulation often relies on sensory feedback beyond vision, particularly in contact-rich settings where force, tactile, or audio signals reveal interaction states that are not directly observable from images. However, these modalities are often hardware- and task-specific,…Read more