6 papers
Embodied Tree of Thoughts: Deliberate Manipulation Planning with Embodied World Model
Wenjiang Xu, Cindy Wang, Rui Fang +6
World models have emerged as a pivotal component in robot manipulation planning, enabling agents to predict future environmental states and reason about the consequences of actions…
ViTaMIn-B: A Reliable and Efficient Visuo-Tactile Bimanual Manipulation Interface
Chuanyu Li, Chaoyi Liu, Daotan Wang +6
Handheld devices have opened up unprecedented opportunities to collect large-scale, high-quality demonstrations efficiently. However, existing systems often lack robust tactile sen…
ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface
Fangchen Liu, Chuanyu Li, Yihua Qin +3
Tactile information plays a crucial role for humans and robots to interact effectively with their environment, particularly for tasks requiring the understanding of contact propert…
DexSim2Real: Building Explicit World Model for Precise Articulated Object Dexterous Manipulation
Taoran Jiang, Yixuan Guan, Liqian Ma +7
Articulated objects are ubiquitous in daily life. In this paper, we present DexSim2Real, a novel framework for goal-conditioned articulated object manipulation. The core of o…
AllTact Fin Ray: A Compliant Robot Gripper with Omni-Directional Tactile Sensing
Siwei Liang, Yixuan Guan, Jing Xu +5
Tactile sensing plays a crucial role in robot grasping and manipulation by providing essential contact information between the robot and the environment. In this paper, we present…
ManiSkill-ViTac 2025: Challenge on Manipulation Skill Learning With Vision and Tactile Sensing
Chuanyu Li, Renjun Dang, Xiang Li +8
This article introduces the ManiSkill-ViTac Challenge 2025, which focuses on learning contact-rich manipulation skills using both tactile and visual sensing. Expanding upon the 202…