2 papers
cs.RO2026
ViTacPhys: Physical Property-Aware Grasping from Human Visual-Tactile Demonstrations
Yiwen Liu, Yujun Zhu, Kui Jia +3
Recent vision-based action models have demonstrated strong capabilities in complex manipulation, but they rarely leverage explicit object physical properties to adapt their policie…
cs.RO2023
A Self-supervised Contrastive Learning Method for Grasp Outcomes Prediction
Chengliang Liu, Binhua Huang, Yiwen Liu +5
In this paper, we investigate the effectiveness of contrastive learning methods for predicting grasp outcomes in an unsupervised manner. By utilizing a publicly available dataset,…