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cs.RO2026
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…
cs.RO2026
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…
cs.RO2026
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,…