3 papers
cs.RO2026
TactSpace: Learning a Physics-enriched Shared Latent Space for Tactile Sim-to-Real Transfer
Arunim Joarder, Arjun Bhardwaj, René Zurbrügg +6
Tactile sensing provides direct measurements of contact interactions that are essential for robotic manipulation. However, current simulators lack the fidelity to faithfully model…
cs.RO2026
VR-DAgger: Immersive VR for Dexterous Data Collection and Uncertainty-Guided On-Policy Correction
René Zurbrügg, Tifanny Portela, Arjun Bhardwaj +3
Learning from demonstrations is effective for robotic manipulation, but collecting sufficient task-specific data remains a major bottleneck. Under distribution shift, small errors…
cs.RO2026
ViserDex: Visual Sim-to-Real for Robust Dexterous In-hand Reorientation
Arjun Bhardwaj, Maximum Wilder-Smith, Mayank Mittal +2
In-hand object reorientation requires precise estimation of the object pose to handle complex task dynamics. While RGB sensing offers rich semantic cues for pose tracking, existing…