5 papers
EgoJEPA: Beyond Retargeting for Dexterous Manipulation from Egocentric Videos
Meng Cao, Can Zhao, Jinjie Wei +12
Egocentric human videos offer a scalable alternative to costly robot demonstra- tions, yet transferring their manipulation priors to robot control remains chal- lenging. The common…
PEARS: Physical-Prior-Guided Efficient Adaptation via Failure Reasoning and Diffusion Steering for Tactile Manipulation
Kun Song, Yiming Wang, Yilin Chen +5
Pretrained robotic policies can suffer substantial performance degradation under out-of-distribution (OOD) conditions encountered during deployment, motivating post-training throug…
VT-MUSE: Multimodal Unified Sequential Visuotactile Representation Learning for Manipulation
Congsheng Xu, Qiaochu Yang, Fangyuan Shi +9
We propose VT-MUSE, a Multimodal Unified SEquential representation learning framework for visuotactilemanipulation. Existing approaches often encode visual and tactile observations…
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…
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…