8 papers
TactileReflex: Noise-Statistics-Driven Vision-Tactile Reflex Control for Force-Sensitive Manipulation
Ziyan Feng, Yulong Fu, Zheng Li +6
Manipulating fragile deformable containers, such as disposable plastic cups filled with liquid, demands real-time grip-force adaptation within an extremely narrow force margin: ins…
MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulation
Jinda Du, Jieji Ren, Qiaojun Yu +6
Dexterous robotic hands are expected to perform complex, contact-rich object manipulation, but learning such skills remains challenging because high-dimensional hands require high-…
TAMEn: Tactile-Aware Manipulation Engine for Closed-Loop Data Collection in Contact-Rich Tasks
Longyan Wu, Jieji Ren, Chenghang Jiang +6
Handheld paradigms offer an efficient and intuitive way for collecting large-scale demonstration of robot manipulation. However, achieving contact-rich bimanual manipulation throug…
FreeTacMan: Robot-free Visuo-Tactile Data Collection System for Contact-rich Manipulation
Longyan Wu, Checheng Yu, Jieji Ren +5
Enabling robots with contact-rich manipulation remains a pivotal challenge in robot learning, which is substantially hindered by the data collection gap, including its inefficiency…
Near-Light Color Photometric Stereo for Mono-Chromatic Non-Lambertian Surfaces
Zonglin Li, Jieji Ren, Shuangfan Zhou +6
Color photometric stereo enables single-shot surface reconstruction, extending conventional photometric stereo that requires multiple images of a static scene under varying illumin…
SuckTac: Camera-based Tactile Sucker for Unstructured Surface Perception and Interaction
Ruiyong Yuan, Jieji Ren, Zhanxuan Peng +2
Suckers are significant for robots in picking, transferring, manipulation and locomotion on diverse surfaces. However, most of the existing suckers lack high-fidelity perceptual an…