9 papers
FELT: Generating Tactile Signals from Vision for Visuo-Tactile Manipulation
Zinan Li, Yiyang Ling, Yuming Gu +8
The sense of touch is central to manipulation, especially when vision is occluded or ambiguous. Although combining vision and touch improves manipulation, learning robust visuo-tac…
VTAP Gripper: Synergizing Fingertip Sensing and a Visuo-Tactile Active Palm for Dexterous In-Hand Manipulation
Yuhao Zhou, Sheeraz Athar, Zhixian Hu +4
This paper presents a tactile-reactive gripper that integrates a Visuo-Tactile Active Palm (VTAP) and compliant, reconfigurable fingers equipped with tactile array sensors. The des…
Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies
Pokuang Zhou, Yuhao Zhou, Quan Khanh Luu +7
Quadrupedal loco-manipulation is commonly built on visual perception and proprioception. Yet reliable contact-rich manipulation remains difficult: vision and proprioception alone c…
FlexiTac: A Low-Cost, Open-Source, Scalable Tactile Sensing Solution for Robotic Systems
Binghao Huang, Yunzhu Li
We present FlexiTac, a low-cost, open-source, and scalable piezoresistive tactile sensing solution designed for robotic end-effectors. FlexiTac is a practical "plug-in" module cons…
Efficient and Reliable Teleoperation through Real-to-Sim-to-Real Shared Autonomy
Shuo Sha, Yixuan Wang, Binghao Huang +2
Fine-grained, contact-rich teleoperation remains slow, error-prone, and unreliable in real-world manipulation tasks, even for experienced operators. Shared autonomy offers a promis…
Learning Force-Regulated Manipulation with a Low-Cost Tactile-Force-Controlled Gripper
Xuhui Kang, Tongxuan Tian, Sung-Wook Lee +3
Successfully manipulating many everyday objects, such as potato chips, requires precise force regulation. Failure to modulate force can lead to task failure or irreversible damage…