3 papers
cs.RO2025
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…
cs.RO2025
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…
cs.RO2025
ThinTact:Thin Vision-Based Tactile Sensor by Lensless Imaging
Jing Xu, Weihang Chen, Hongyu Qian +2
Vision-based tactile sensors have drawn increasing interest in the robotics community. However, traditional lens-based designs impose minimum thickness constraints on these sensors…