4 papers
AetheRock: An Arm-Worn Robot Teaching System for Force-Guided Vision-Tactile Learning
Hong Li, Yue Xu, Yihan Tang +8
Force and tactile sensing are indispensable in contact-rich manipulation. However, force-aware robot learning faces critical challenges due to the incompatible assembly of tactile…
EgoGuide: Egocentric Guidance for Efficient Robot-Free Demonstration Collection and Learning
Yue Xu, Mingtao Nie, Tianle Li +4
Robot learning from real-world demonstrations is currently constrained by data scaling. Universal Manipulation Interface (UMI) provides an efficient robot-free data collection inte…
Tac-DINO: Learning Vision-Tactile Features with Patch Alignment
Hong Li, Yankang Dong, Yue Xu +8
Touch is the primary medium through which humans interact with the environment. Currently, tactile learning mainly focuses on image-level pretraining or alignment. However, tactile…
Beyond Static Vision: Scene Dynamic Field Unlocks Intuitive Physics Understanding in Multi-modal Large Language Models
Nanxi Li, Xiang Wang, Yuanjie Chen +3
While Multimodal Large Language Models (MLLMs) have demonstrated impressive capabilities in image and video understanding, their ability to comprehend the physical world has become…