7 papers
TacPrint: A Wearable Fingertip Tactile Sensor for Human-to-Robot Contact Reproduction
Yongxi Liu, Chaofan Zhang, Xingyu Zhang +4
Human-centric data collection is emerging as a significant paradigm for robot skill acquisition, but seamlessly integrating low-cost, scalable tactile sensing systems that capture…
FeelWorld: Visuo-Tactile World Model for Hierarchical Contact Prediction and Planning
Wenxuan Ma, Chaofan Zhang, Chao Xue +4
Humans plan physical interactions by imagining the possible outcomes of candidate actions. However, existing visual world models primarily capture appearance dynamics while overloo…
FG-CLTP: Fine-Grained Contrastive Language Tactile Pretraining for Robotic Manipulation
Wenxuan Ma, Chaofan Zhang, Yinghao Cai +3
Recent advancements in integrating tactile sensing into vision-language-action (VLA) models have demonstrated transformative potential for robotic perception. However, existing tac…
DexTac: Learning Contact-aware Visuotactile Policies via Hand-by-hand Teaching
Xingyu Zhang, Chaofan Zhang, Boyue Zhang +3
For contact-intensive tasks, the ability to generate policies that produce comprehensive tactile-aware motions is essential. However, existing data collection and skill learning sy…
VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation
Chaofan Zhang, Peng Hao, Xiaoge Cao +3
While vision-language models have advanced significantly, their application in language-conditioned robotic manipulation is still underexplored, especially for contact-rich tasks t…
CLTP: Contrastive Language-Tactile Pre-training for 3D Contact Geometry Understanding
Wenxuan Ma, Xiaoge Cao, Yixiang Zhang +7
Recent advancements in integrating tactile sensing with vision-language models (VLMs) have demonstrated remarkable potential for robotic multimodal perception. However, existing ta…