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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…