23 citations · 24 across the 8 of their papers we have counts for
5 papers · 1 filter
DeTac: Dual-branch Decoupling of Texture and Force Signals in Vision-Based Tactile Sensors
Zhirui Zhang, Yunkai Tang, Jiahang Li +6
Vision-based tactile sensors enable fine-grained perception for dexterous robotic manipulation, but current marker-based designs tightly couple surface texture and contact force si…
-class groups in the cyclotomic -extension of imaginary quadratic fields
Somnath Jha, Debanjana Kundu, H. Laxmi +1
We study the structure of the -class group of the first layer of the cyclotomic -extension of an imaginary quadratic field where is non-split. We obtain restri…
DexPolicy: Scheduled Exploration for Trajectory-Guided Dexterous Manipulation
Haoyu Wang, Siyuan Qian, Yanjun Li +4
Reinforcement learning (RL) for dexterous manipulation must discover finger-object contacts and then control the object precisely; the action noise that serves the first goal can i…
Lift3D-VLA: Lifting VLA Models to 3D Geometry and Dynamics-Aware Manipulation
Jiaming Liu, Qingpo Wuwu, Nuowei Han +8
Recently, Vision-Language-Action (VLA) models have demonstrated strong generalization across diverse tasks. However, effective robotic manipulation in physical environments fundame…
TACO: TActile World Model as a Self-COrrector for Scalable Robot Policy Post-Training
Shengbang Liu, Yueru Jia, Yuyang Yan +7
Vision-Language-Action models and World Action Models have shown promising generalization in robotic manipulation but remain fragile in contact-rich tasks, where contact perturbati…