3 papers
cs.RO2026
Imagining the Sense of Touch: Touch-Informed Manipulation via Imagined Tactile Representations
Zhiyuan Zhang, Adeesh Desai, Jyun-Chi Hu +7
Tactile sensing can substantially improve contact-rich robotic manipulation, yet its practical deployment remains limited by the fragility, calibration requirements, and maintenanc…
cs.RO2026
ContactWorld: What Representations Matter in Vision-Tactile World Models for Contact-Rich Manipulation
Zhiyuan Zhang, Pokuang Zhou, Kaidi Zhang +6
Contact-rich manipulation requires world models to capture complex interaction dynamics from heterogeneous visual and tactile observations, yet the representation properties that e…
cs.RO2026
CONTACT: CONtact-aware TACTile Learning for Robotic Disassembly
Yosuke Saka, Jyun-Chi Hu, Adeesh Desai +6
Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While…