9 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…
DexMani: Human-Derived Manipulability Guidance for Dexterous Rotation
Xiaoyang Chen, Shengcheng Luo, Haoran Guo +4
Dexterous object rotation is a sequential contact problem: each support, release, and re-contact decision must both produce the desired object motion, and prepare the hand configur…
τ: Learning Touch-Augmented Vision-Language-Action Models from Future Visual Supervision
Ning Cheng, Jinan Xu, Wanlin Li +5
Incorporating tactile sensing into Vision-Language-Action (VLA) models holds promise for contact-rich manipulation, where visual observations alone often fail to capture critical c…
Blind Dexterous Grasping via Real2Sim2Real Tactile Policy Learning
Shengcheng Luo, Xiyan Huang, Zhe Xu +3
Blind grasping with a dexterous hand is a crucial manipulation capability. Nevertheless, learning such tactile-only policies for real robots remains challenging due to the tactile…
RGB-S: Image-Aligned Tactile Saliency for Robust Dexterous Manipulation
Shengcheng Luo, Kefei Wu, Xiaoying Zhou +3
Effective visuo-tactile integration is critical for robotic dexterous manipulation, especially when visual observations are unreliable or occluded. However, robustly aligning spars…
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…