8 papers
TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation
Kaidi Zhang, Heng Zhang, Zhengtong Xu +7
Vision-Language-Action (VLA) models have demonstrated significant advantages in robotic manipulation. However, their reliance on vision and language often leads to suboptimal perfo…
CONTACT: CONtact-aware TACTile Learning for Robotic Disassembly
Yosuke Saka, Jyun-Chi Hu, Adeesh Desai +6
Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While…
EquiBim: Learning Symmetry-Equivariant Policy for Bimanual Manipulation
Zhiyuan Zhang, Aditya Mohan, Seungho Han +3
Robotic imitation learning has achieved impressive success in learning complex manipulation behaviors from demonstrations. However, many existing robot learning methods do not expl…
Synthetic Data Augmentation for Enhanced Chicken Carcass Instance Segmentation
Yihong Feng, Chaitanya Pallerla, Xiaomin Lin +5
The poultry industry has been driven by broiler chicken production and has grown into the world's largest animal protein sector. Automated detection of chicken carcasses on process…
ChicGrasp: Imitation-Learning based Customized Dual-Jaw Gripper Control for Delicate, Irregular Bio-products Manipulation
Amirreza Davar, Zhengtong Xu, Siavash Mahmoudi +6
Automated poultry processing lines still rely on humans to lift slippery, easily bruised carcasses onto a shackle conveyor. Deformability, anatomical variance, and strict hygiene r…
SeeBelow: Sub-dermal 3D Reconstruction of Tumors with Surgical Robotic Palpation and Tactile Exploration
Raghava Uppuluri, Abhinaba Bhattacharjee, Sohel Anwar +1
Surgical scene understanding in Robot-assisted Minimally Invasive Surgery (RMIS) is highly reliant on visual cues and lacks tactile perception. Force-modulated surgical palpation w…
UniT: Data Efficient Tactile Representation with Generalization to Unseen Objects
Zhengtong Xu, Raghava Uppuluri, Xinwei Zhang +5
UniT is an approach to tactile representation learning, using VQGAN to learn a compact latent space and serve as the tactile representation. It uses tactile images obtained from a…
Robot Tape Manipulation for 3D Printing
Nahid Tushar, Rencheng Wu, Yu She +2
3D printing has enabled various applications using different forms of materials, such as filaments, sheets, and inks. Typically, during 3D printing, feedstocks are transformed into…