3 papers
cs.RO2026
InvariantCloud: A Globally Invariant, Uniquely Indexed Point Cloud Framework for Robust 6-DoF Tactile Pose Tracking
Pengfei Ye, Yuxiang Ma, Yi Zhou +3
Recent advances in imitation learning and vision-language models highlight the need for high-fidelity tactile perception, with 6-DoF tactile object pose estimation providing a cruc…
cs.RO2026
Learning Bimanual Cloth Manipulation with Vision-based Tactile Sensing via Single Robotic Arm
Dongmyoung Lee, Wei Chen, Xiaoshuai Chen +2
Robotic cloth manipulation remains challenging due to the high-dimensional state space of fabrics, their deformable nature, and frequent occlusions that limit vision-based sensing.…
cs.RO2025
A Backbone for Long-Horizon Robot Task Understanding
Xiaoshuai Chen, Wei Chen, Dongmyoung Lee +3
End-to-end robot learning, particularly for long-horizon tasks, often results in unpredictable outcomes and poor generalization. To address these challenges, we propose a novel The…