3 papers
cs.RO2025
FSGlove: An Inertial-Based Hand Tracking System with Shape-Aware Calibration
Yutong Li, Jieyi Zhang, Wenqiang Xu +2
Accurate hand motion capture (MoCap) is vital for applications in robotics, virtual reality, and biomechanics, yet existing systems face limitations in capturing high-degree-of-fre…
cs.RO2025
FBI: Learning Dexterous In-hand Manipulation with Dynamic Visuotactile Shortcut Policy
Yijin Chen, Wenqiang Xu, Zhenjun Yu +4
Dexterous in-hand manipulation is a long-standing challenge in robotics due to complex contact dynamics and partial observability. While humans synergize vision and touch for such…
cs.CV2024
Dynamic Reconstruction of Hand-Object Interaction with Distributed Force-aware Contact Representation
Zhenjun Yu, Wenqiang Xu, Pengfei Xie +4
We present ViTaM-D, a novel visual-tactile framework for reconstructing dynamic hand-object interaction with distributed tactile sensing to enhance contact modeling. Existing metho…