6 papers
EgoJEPA: Beyond Retargeting for Dexterous Manipulation from Egocentric Videos
Meng Cao, Can Zhao, Jinjie Wei +12
Egocentric human videos offer a scalable alternative to costly robot demonstra- tions, yet transferring their manipulation priors to robot control remains chal- lenging. The common…
UniReflex: Plug-and-Play Force Control for Pretrained Generative Policies via Fast-Slow Reflex
Yan Huang, Shoujie Li, Ziwu Song +1
Generative imitation learning policies excel at trajectory planning but lack closed-loop force regulation, while directly incorporating force modalities often requires redesigning…
MoiréTac: A Dual-Mode Visuotactile Sensor for Multidimensional Perception Using Moiré Pattern Amplification
Kit-Wa Sou, Junhao Gong, Shoujie Li +4
Visuotactile sensors typically employ sparse marker arrays that limit spatial resolution and lack clear analytical force-to-image relationships. To solve this problem, we present \…
UltraTac: Integrated Ultrasound-Augmented Visuotactile Sensor for Enhanced Robotic Perception
Junhao Gong, Kit-Wa Sou, Shoujie Li +5
Visuotactile sensors provide high-resolution tactile information but are incapable of perceiving the material features of objects. We present UltraTac, an integrated sensor that co…
Depth Restoration of Hand-Held Transparent Objects for Human-to-Robot Handover
Ran Yu, Haixin Yu, Shoujie Li +3
Transparent objects are common in daily life, while their optical properties pose challenges for RGB-D cameras to capture accurate depth information. This issue is further amplifie…
SATac: A Thermoluminescence Enabled Tactile Sensor for Concurrent Perception of Temperature, Pressure, and Shear
Ziwu Song, Ran Yu, Xuan Zhang +5
Most vision-based tactile sensors use elastomer deformation to infer tactile information, which can not sense some modalities, like temperature. As an important part of human tacti…