10 papers
VQ-Touch: A Data-Efficient Tactile Generation Framework Across Sensors and Scenarios
Kailin Lyu, Long Xiao, Jianing Zeng +3
The paper presents VQ-Touch, a framework that efficiently generates high‑fidelity tactile images across different sensors and scenarios using a VQ‑GAN based representation and a di…
TouchThinker: Scaling Tactile Commonsense Reasoning to the Open World with Large-scale Data and Action-aware Representation
Kailin Lyu, Di Wu, Pengwei Zhang +12
Touch is a key modality for embodied agents to understand the physical world. Although recent work has incorporated tactile signals into language systems for tactile commonsense re…
XR-1: Towards Versatile Vision-Language-Action Models via Learning Unified Vision-Motion Representations
Shichao Fan, Kun Wu, Zhengping Che +12
Recent progress in large-scale robotic datasets and vision-language models (VLMs) has advanced research on vision-language-action (VLA) models. However, existing VLA models still f…
TacReasoner: A Dynamic Tactile-Language Framework for Interactive Reasoning in Real-World Scenarios
Kailin Lyu, Di Wu, Long Xiao +7
Among the five primary human senses, tactile is arguably the most fundamental to survival, as it enables the perception of physical contact and interaction in real-world environmen…
UMI-Bench 1.0: An Open and Reproducible Real-World Benchmark for Tabletop Robotic Manipulation with UMI Data
Shi Jin, Yuntian Wang, Yuhui Duan +16
Real-robot evaluation is essential for understanding whether learned manipulation policies can operate reliably outside curated demonstrations. This need is particularly pressing f…
Generalizable and Actionable Parts Pose Estimation with Symmetry Annotation-Free Learning Strategy
Wenxiao Chen, Xueyu Yuan, Liu Liu +2
Urgently needed generalizable robot object interaction and manipulation requires high-quality Cross-Category object perception. As a pioneer of this area, Generalizable and Actiona…