3 papers
cs.RO2026
TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance
Zhemeng Zhang, Jiahua Ma, Xincheng Yang +13
Fine-grained and contact-rich manipulation remain challenging for robots, largely due to the underutilization of tactile feedback. To address this, we introduce TouchGuide, a novel…
cs.LG2025
UniTac2Pose: A Unified Approach Learned in Simulation for Category-level Visuotactile In-hand Pose Estimation
Mingdong Wu, Long Yang, Jin Liu +5
Accurate estimation of the in-hand pose of an object based on its CAD model is crucial in both industrial applications and everyday tasks, ranging from positioning workpieces and a…
cs.CV2022
CPPF++: Uncertainty-Aware Sim2Real Object Pose Estimation by Vote Aggregation
Yang You, Wenhao He, Jin Liu +3
Object pose estimation constitutes a critical area within the domain of 3D vision. While contemporary state-of-the-art methods that leverage real-world pose annotations have demons…