5 papers
EgoTactile: Learning Grasp Pressure for Everyday Objects from Egocentric Video
Yuan Zeng, Yujia Shi, Tiao Tan +6
Estimating full-hand grasp pressure from egocentric video is critical for immersive VR and robotic manipulation, yet dense tactile sensing often relies on intrusive hardware. Exist…
Master Micro Residual Correction with Adaptive Tactile Fusion and Force-Mixed Control for Contact-Rich Manipulation
Xingting Li, Yifan Xie, Han Liu +4
Robotic contact-rich and fine-grained manipulation remains a significant challenge due to complex interaction dynamics and the competing requirements of multi-timescale control. Wh…
CEI: A Unified Interface for Cross-Embodiment Visuomotor Policy Learning in 3D Space
Tong Wu, Shoujie Li, Junhao Gong +4
Robotic foundation models trained on large-scale manipulation datasets have shown promise in learning generalist policies, but they often overfit to specific viewpoints, robot arms…
UMIGen: A Unified Framework for Egocentric Point Cloud Generation and Cross-Embodiment Robotic Imitation Learning
Yan Huang, Shoujie Li, Xingting Li +1
Data-driven robotic learning faces an obvious dilemma: robust policies demand large-scale, high-quality demonstration data, yet collecting such data remains a major challenge owing…
Universal Visuo-Tactile Video Understanding for Embodied Interaction
Yifan Xie, Mingyang Li, Shoujie Li +5
Tactile perception is essential for embodied agents to understand physical attributes of objects that cannot be determined through visual inspection alone. While existing approache…