3 papers
cs.RO2026
TacBPM: A Tactile-conditioned Behavior Prior Model for Dexterous Reorientation
Jie Yin, Wanli Xing, Zeyuan Zhao +3
Dexterous in-hand manipulation requires policies that coordinate high-DoF hand joints through intermittent, contact-rich interaction. Beyond target-orientation tracking, such polic…
cs.RO2026
Tacmap: Bridging the Tactile Sim-to-Real Gap via Geometry-Consistent Penetration Depth Map
Lei Su, Zhijie Peng, Renyuan Ren +4
Vision-Based Tactile Sensors (VBTS) are essential for achieving dexterous robotic manipulation, yet the tactile sim-to-real gap remains a fundamental bottleneck. Current tactile si…
cs.RO2025
Spatially anchored Tactile Awareness for Robust Dexterous Manipulation
Jialei Huang, Yang Ye, Yuanqing Gong +3
Dexterous manipulation requires precise geometric reasoning, yet existing visuo-tactile learning methods struggle with sub-millimeter precision tasks that are routine for tradition…