21 papers
SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects (Early Version)
Bowen Jing, Mingxin Wang, Ruiyang Hao +15
Deformable object manipulation poses challenges beyond task completion: successful execution must also maintain safe physical interaction, holding the object stably without slip or…
TacEvo: Self-Evolving Architecture Discovery for Robotic Tactile Perception via LLM-Driven Quality-Diversity Search
Mohammed AbuSadeh, Lan Wei, Dandan Zhang
Vision-based tactile sensing converts contact-induced surface deformation into images, enabling robots to infer contact forces and fine surface textures that are not accessible thr…
TacVerse: A Multi-Sensor Dataset and Benchmark for Cross-Sensor Vision-Based Tactile Perception
Lan Wei, Gurmeher Khurana, Sirine Bhouri +6
Vision-based tactile sensors (VBTSs) enable robots to infer contact geometry and force-related cues by imaging deformation through an internal camera, yet generalisation across sen…
Stop the Flip-Flop: Context-Preserving Verification for Fast Revocable Diffusion Decoding
Yanzheng Xiang, Lan Wei, Yizhen Yao +8
Parallel diffusion decoding can accelerate diffusion language model inference by unmasking multiple tokens per step, but aggressive parallelism often harms quality. Revocable decod…
Mag-VLA: Vision-Language-Action Model for Bimanual Magnetically Actuated Microrobot Manipulation
Yongchen Wang, Kangyi Lu, Lan Wei +1
Magnetically actuated microrobots have been used as wireless, non-contact manipulation tools at microscales, making them promising for minimally invasive applications. However, the…
A Digital Twin Framework for Virtual Visuo-Haptic Teleoperation of Complex-Shaped Optical Microrobots
Zongcai Tan, Lan Wei, Dandan Zhang
Optical tweezers (OT) provide piconewton-scale manipulation for delicate biomedical tasks, where visuo-haptic feedback can improve operator awareness by conveying interaction-force…