5 papers
TACIT: Tactile Contact Supervision for Spatial Attention in Dexterous Manipulation
Yanhou Lai, Fucai Zhu, Ruiqiang Wang +1
Visuomotor policies trained from a few demonstrations may reproduce demonstrated trajectories without reliably following changes in object position. Existing approaches with explic…
ViHaTeleop: A Low-Cost, Lightweight Visual-Haptic Teleoperation System for Dexterous Manipulation Learning
Fucai Zhu, Yanhou Lai, Paul Maestre +1
Learning from demonstration is a promising approach for dexterous manipulation, but collecting high-quality contact-critical demonstrations remains difficult with low-cost teleoper…
UniTacVLA: Unified Tactile Understanding and Prediction in Vision Language Action Models
Xidong Zhang, Yichi Zhang, Jiaxin Shi +5
Vision-language-action (VLA) models have achieved strong performance in many robotic manipulation tasks, yet remain limited in contact-rich dexterous manipulation. To overcome this…
3DThinkVLA: Endowing Vision-Language-Action Models with Latent 3D Priors via 3D-Thinking-Guided Co-training
Jiaxin Shi, Xidong Zhang, Fucai Zhu +3
We propose a 3D-thinking-guided co-training framework that enables vision-language-action (VLA) models to perform 3D spatial reasoning implicitly during action prediction. Our core…
Touch-R1: Reinforcing Touch Reasoning in MLLMs
Yingxin Lai, Yafei Zhou, Fucai Zhu +2
While rule-based reinforcement learning has recently catalyzed explicit reasoning in multimodal models, tactile reasoning remains largely underexplored. Existing tactile-language m…