6 papers · 1 filter
AVT-Fabric: Active Visuo-Tactile Perception via Adaptive Evidence Selection for Efficient Robotic Fabric Comparison
Chang Gao, Zhuo Chen, Suhang Xia +3
Robotic fabric comparison needs to actively combine visual appearance and tactile cues. Here, we present AVT-Fabric, an RGB-first framework that allocates tactile evidence accordin…
VTLoc: Learning-based Tactile Contact Localization in Visual Point Clouds
Zhiyuan Wu, Zhuo Chen, Shan Luo
Vision and touch are complementary modalities essential for robotic perception and manipulation. While vision provides global object context, touch offers precise local information…
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…
UniForce: A Unified Latent Force Model for Robot Manipulation with Diverse Tactile Sensors
Zhuo Chen, Fei Ni, Kaiyao Luo +7
Force sensing is essential for dexterous robot manipulation, but scaling force-aware policy learning is hindered by the heterogeneity of tactile sensors. Differences in sensing pri…
DiffMorphGrasp: A Diffusion Framework Conditioned on Hand Morphology for Cross-Embodiment Grasp Generation
Zhiyuan Wu, Xiangyu Zhang, Zhuo Chen +3
As robots are deployed across diverse environments, manipulation tasks require robot hands with different morphologies to satisfy varying task requirements, hardware capabilities,…