6 papers
NeuralTouch: Neural Descriptors for Precise Sim-to-Real Tactile Robot Control
Yijiong Lin, Bowen Deng, Keju Pu +4
Grasping accuracy is a critical prerequisite for precise object manipulation, often requiring careful alignment between the robot hand and object. Neural Descriptor Fields (NDF) of…
ViTacGen: Robotic Pushing with Vision-to-Touch Generation
Zhiyuan Wu, Yijiong Lin, Yongqiang Zhao +4
Robotic pushing is a fundamental manipulation task that requires tactile feedback to capture subtle contact forces and dynamics between the end-effector and the object. However, re…
Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions
Harrison Field, Max Yang, Yijiong Lin +3
Large language models (LLMs) are beginning to automate reward design for dexterous manipulation. However, no prior work has considered tactile sensing, which is known to be critica…
Classification of Vision-Based Tactile Sensors: A Review
Haoran Li, Yijiong Lin, Chenghua Lu +3
Vision-based tactile sensors (VBTS) have gained widespread application in robotic hands, grippers and prosthetics due to their high spatial resolution, low manufacturing costs, and…
Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism
Haoran Li, Christopher J. Ford, Chenghua Lu +5
A challenging and important problem for tendon-driven multi-fingered robotic hands is to ensure grasping adaptivity while minimizing the number of actuators needed to provide human…
SimShear: Sim-to-Real Shear-based Tactile Servoing
Kipp McAdam Freud, Yijiong Lin, Nathan F. Lepora
We present SimShear, a sim-to-real pipeline for tactile control that enables the use of shear information without explicitly modeling shear dynamics in simulation. Shear, arising f…