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cs.RO2026
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…
cs.RO2026
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…
cs.RO2026
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…