3 papers
cs.RO2026
DexTac: Learning Contact-aware Visuotactile Policies via Hand-by-hand Teaching
Xingyu Zhang, Chaofan Zhang, Boyue Zhang +3
For contact-intensive tasks, the ability to generate policies that produce comprehensive tactile-aware motions is essential. However, existing data collection and skill learning sy…
cs.RO2025
VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation
Chaofan Zhang, Peng Hao, Xiaoge Cao +3
While vision-language models have advanced significantly, their application in language-conditioned robotic manipulation is still underexplored, especially for contact-rich tasks t…
cs.RO2025
CLTP: Contrastive Language-Tactile Pre-training for 3D Contact Geometry Understanding
Wenxuan Ma, Xiaoge Cao, Yixiang Zhang +7
Recent advancements in integrating tactile sensing with vision-language models (VLMs) have demonstrated remarkable potential for robotic multimodal perception. However, existing ta…