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cs.RO2025
Tactile Robotics: Past and Future
Nathan F. Lepora
What is the future of tactile robotics? To help define that future, this article provides a historical perspective on tactile sensing in robotics from the wealth of knowledge and e…
cs.RO2025
Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions
Harrison Field, Max Yang, Yijiong Lin +3
Large language models (LLMs) are beginning to automate reward design for dexterous manipulation. However, no prior work has considered tactile sensing, which is known to be critica…
cs.RO2025
SimShear: Sim-to-Real Shear-based Tactile Servoing
Kipp McAdam Freud, Yijiong Lin, Nathan F. Lepora
We present SimShear, a sim-to-real pipeline for tactile control that enables the use of shear information without explicitly modeling shear dynamics in simulation. Shear, arising f…