6 papers
CAAT: Contact-Aware Attention Scaling and Tactile Masking for Data-Efficient Contact-Rich Manipulation
Jiaming Jiang, Yuzhe Huang, Hao Liang +7
In contact-rich manipulation, visual observations primarily guide motion in free space, whereas tactile observations become particularly informative during contact. However, standa…
HT-Bench: Benchmarking and Learning Dexterous Full-Hand Tactile Representations with Egocentric Vision
Yuzhe Huang, Jiaping Wu, Jiaming Jiang +8
Establishing a universal benchmark for tactile representation learning in robotic manipulation remains challenging due to the diversity of tactile sensor designs, data formats, and…
TaF-VLA: Tactile-Force Alignment in Vision-Language-Action Models for Force-aware Manipulation
Yuzhe Huang, Pei Lin, Wanlin Li +5
Vision-Language-Action (VLA) models have recently emerged as powerful generalists for robotic manipulation. However, due to their predominant reliance on visual modalities, they fu…
SuperMag: Vision-based Tactile Data Guided High-resolution Tactile Shape Reconstruction for Magnetic Tactile Sensors
Peiyao Hou, Danning Sun, Meng Wang +5
Magnetic-based tactile sensors (MBTS) combine the advantages of compact design and high-frequency operation but suffer from limited spatial resolution due to their sparse taxel arr…
ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Models
Puhao Li, Yingying Wu, Ziheng Xi +8
Learning real-world robotic manipulation is challenging, particularly when limited demonstrations are available. Existing methods for few-shot manipulation often rely on simulation…
PP-Tac: Paper Picking Using Tactile Feedback in Dexterous Robotic Hands
Pei Lin, Yuzhe Huang, Wanlin Li +3
Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Although recent advances in robotic hardwa…