7 papers
HapTile: A Haptic-Informed Vision-Tactile-Language-Action Dataset for Contact-Rich Imitation Learning
Amirhosein Alian, Yongqiang Zhao, Shiyi Gu +5
Despite the importance of tactile sensing for reliable manipulation, most existing Vision-Language-Action (VLA) datasets remain vision-only, and those that do incorporate tactile i…
Visual-Tactile Peg-in-Hole Assembly Learning from Peg-out-of-Hole Disassembly
Yongqiang Zhao, Xuyang Zhang, Zhuo Chen +3
Peg-in-hole (PiH) assembly is a fundamental yet challenging robotic manipulation task. While reinforcement learning (RL) has shown promise in tackling such tasks, it requires exten…
SimTac: A Physics-Based Simulator for Vision-Based Tactile Sensing with Biomorphic Structures
Xuyang Zhang, Jiaqi Jiang, Zhuo Chen +5
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interac…
Training Tactile Sensors to Learn Force Sensing from Each Other
Zhuo Chen, Ni Ou, Xuyang Zhang +8
Humans achieve stable and dexterous object manipulation by coordinating grasp forces across multiple fingers and palms, facilitated by a unified tactile memory system in the somato…
RoTipBot: Robotic Handling of Thin and Flexible Objects using Rotatable Tactile Sensors
Jiaqi Jiang, Xuyang Zhang, Daniel Fernandes Gomes +2
This paper introduces RoTipBot, a novel robotic system for handling thin, flexible objects. Different from previous works that are limited to singulating them using suction cups or…
TransForce: Transferable Force Prediction for Vision-based Tactile Sensors with Sequential Image Translation
Zhuo Chen, Ni Ou, Xuyang Zhang +1
Vision-based tactile sensors (VBTSs) provide high-resolution tactile images crucial for robot in-hand manipulation. However, force sensing in VBTSs is underutilized due to the cost…