1 citations · 1 across the 7 of their papers we have counts for
8 papers
Tactile Sim2Real without Tactile Simulation via Bottlenecked Latent Reconstruction
Fan Yang, Youngsun Wi, Jinhao Yu +2
Robot sensor designs, particularly tactile sensors, are highly diverse and evolve rapidly. Modeling each sensor in simulation demands substantial domain expertise and computational…
TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models
Mark Van der Merwe, Mohamad Louai Shehab, Jayjun Lee +4
Vision-Language-Action (VLA) models demonstrate impressive reasoning over visual, semantic, and spatial task variations by leveraging large-scale vision and language pre-training.…
TactAlign: Human-to-Robot Policy Transfer via Tactile Alignment
Youngsun Wi, Jessica Yin, Elvis Xiang +5
Human demonstrations collected by wearable devices (e.g., tactile gloves) provide fast and dexterous supervision for policy learning, and are guided by rich, natural tactile feedba…
OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer
Jessica Yin, Haozhi Qi, Youngsun Wi +7
Human video demonstrations provide abundant training data for learning robot policies, but video alone cannot capture the rich contact signals critical for mastering manipulation.…
Neural Inverse Source Problems
Youngsun Wi, Jayjun Lee, Miquel Oller +1
Reconstructing unknown external source functions is an important perception capability for a large range of robotics domains including manipulation, aerial, and underwater robotics…
Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback
Mark Van der Merwe, Youngsun Wi, Dmitry Berenson +1
Reasoning over the interplay between object deformation and force transmission through contact is central to the manipulation of compliant objects. In this paper, we propose Neural…
VIRDO++: Real-World, Visuo-tactile Dynamics and Perception of Deformable Objects
Youngsun Wi, Andy Zeng, Pete Florence +1
Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for…
VIRDO: Visio-tactile Implicit Representations of Deformable Objects
Youngsun Wi, Pete Florence, Andy Zeng +1
Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO:an implicit,…