8 papers
Imagining the Sense of Touch: Touch-Informed Manipulation via Imagined Tactile Representations
Zhiyuan Zhang, Adeesh Desai, Jyun-Chi Hu +7
Tactile sensing can substantially improve contact-rich robotic manipulation, yet its practical deployment remains limited by the fragility, calibration requirements, and maintenanc…
Behavior Uncloning: Distilling Mode Redirection into Policy Weights without Inference-Time Steering
Hao Wang, Jiuzhou Lei, Dayou Li +5
Behavior-cloned policies often learn multiple behavior modes from demonstration datasets, including modes that are unsafe or otherwise undesired at deployment. For example, a polic…
ContactWorld: What Matters in Vision-Tactile World Models for Contact-Rich Manipulation
Zhiyuan Zhang, Pokuang Zhou, Kaidi Zhang +6
Contact-rich manipulation requires world models to reason over complex contact dynamics from multimodal sensory observations. However, it remains unclear which representation prope…
Learning When to See and When to Feel: Adaptive Vision-Torque Fusion for Contact-Aware Manipulation
Jiuzhou Lei, Chang Liu, Yu She +2
Vision-based policies have achieved a good performance in robotic manipulation due to the accessibility and richness of visual observations. However, purely visual sensing becomes…
Learning Actionable Manipulation Recovery via Counterfactual Failure Synthesis
Dayou Li, Jiuzhou Lei, Hao Wang +6
While recent foundation models have significantly advanced robotic manipulation, these systems still struggle to autonomously recover from execution errors. Current failure-learnin…
ANGEL: A Novel Gripper for Versatile and Light-touch Fruit Harvesting
Dharmik Patel, Antonio Rafael Vazquez Pantoja, Jiuzhou Lei +3
Fruit harvesting remains predominantly a labor-intensive process, motivating the development of research for robotic grippers. Conventional rigid or vacuum-driven grippers require…