10 papers
Touch2Robot: Robot Touch in the Human Demonstration Loop
Shengcheng Luo, Xiaoyang Cheng, Hong Ying +6
Human demonstrations offer a scalable way to collect manipulation data, but their contacts may be unstable or infeasible when transferred to a robot hand. Collecting demonstrations…
τ: Learning Touch-Augmented Vision-Language-Action Models from Future Visual Supervision
Ning Cheng, Jinan Xu, Wanlin Li +5
Incorporating tactile sensing into Vision-Language-Action (VLA) models holds promise for contact-rich manipulation, where visual observations alone often fail to capture critical c…
CAAT: Contact-Aware Attention Scaling and Tactile Masking for Data-Efficient Contact-Rich Manipulation
Jiaming Jiang, Yuzhe Huang, Hao Liang +7
In contact-rich manipulation, visual observations primarily guide motion in free space, whereas tactile observations become particularly informative during contact. However, standa…
DexMani: Human-Derived Manipulability Guidance for Dexterous Rotation
Xiaoyang Chen, Shengcheng Luo, Haoran Guo +4
Dexterous object rotation is a sequential contact problem: each support, release, and re-contact decision must both produce the desired object motion, and prepare the hand configur…
Blind Dexterous Grasping via Real2Sim2Real Tactile Policy Learning
Shengcheng Luo, Xiyan Huang, Zhe Xu +3
Blind grasping with a dexterous hand is a crucial manipulation capability. Nevertheless, learning such tactile-only policies for real robots remains challenging due to the tactile…
Tac2Pix: Image-Space Visuo-Tactile Fusion for Dexterous Manipulation
Shengcheng Luo, Kefei Wu, Xiaoying Zhou +3
Vision and touch are naturally complementary for dexterous manipulation. Yet they are represented in fundamentally different forms: visual observations are dense and spatially stru…
TaF-VLA: Tactile-Force Alignment in Vision-Language-Action Models for Force-aware Manipulation
Yuzhe Huang, Pei Lin, Wanlin Li +5
Vision-Language-Action (VLA) models have recently emerged as powerful generalists for robotic manipulation. However, due to their predominant reliance on visual modalities, they fu…
SuperMag: Vision-based Tactile Data Guided High-resolution Tactile Shape Reconstruction for Magnetic Tactile Sensors
Peiyao Hou, Danning Sun, Meng Wang +5
Magnetic-based tactile sensors (MBTS) combine the advantages of compact design and high-frequency operation but suffer from limited spatial resolution due to their sparse taxel arr…
ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Models
Puhao Li, Yingying Wu, Ziheng Xi +8
Learning real-world robotic manipulation is challenging, particularly when limited demonstrations are available. Existing methods for few-shot manipulation often rely on simulation…
PP-Tac: Paper Picking Using Tactile Feedback in Dexterous Robotic Hands
Pei Lin, Yuzhe Huang, Wanlin Li +3
Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Although recent advances in robotic hardwa…