1 citations · 1 across the 10 of their papers we have counts for
10 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…
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…
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…
ViTacGen: Robotic Pushing with Vision-to-Touch Generation
Zhiyuan Wu, Yijiong Lin, Yongqiang Zhao +4
Robotic pushing is a fundamental manipulation task that requires tactile feedback to capture subtle contact forces and dynamics between the end-effector and the object. However, re…
CEDex: Cross-Embodiment Dexterous Grasp Generation at Scale from Human-like Contact Representations
Zhiyuan Wu, Rolandos Alexandros Potamias, Xuyang Zhang +3
Cross-embodiment dexterous grasp synthesis refers to adaptively generating and optimizing grasps for various robotic hands with different morphologies. This capability is crucial f…
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…
RoTip: A Finger-Shaped Tactile Sensor with Active Rotation Capability
Xuyang Zhang, Jiaqi Jiang, Shan Luo
In recent years, advancements in optical tactile sensor technology have primarily centred on enhancing sensing precision and expanding the range of sensing modalities. To meet the…
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…
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…