3 papers
cs.RO2026
InsertAnything: Generalizable Contact-Rich Precision Insertion from Simulation to Reality
Zhenghua Ma, Xinpan Meng, Zeyu Liu +4
Contact-rich precision insertion is a key manipulation skill in robotic assembly. Tight clearances make insertion more sensitive to alignment errors and prone to collisions and jam…
cs.RO2026
GelNeuro: A Sensing-Computing Integrated Neuromorphic Tactile System for Texture Recognition
Luoyang Bian, Xinpan Meng, Zhenghua Ma +2
Neuromorphic visuo-tactile sensing offers a promising paradigm for low-latency and low-power robotic perception. However, existing systems still rely heavily on a host computer for…
cs.RO2026
From Reach to Insert: Tactile-Augmented Precision Assembly under Sub-Millimeter Tolerances
Xinpan Meng, Siyao Huang, JingPu Yang +6
High-precision assembly frequently involves tight-tolerance insertions, where even slight pose errors can cause jamming or excessive interaction forces, making robust and safe inse…