4 accepted papers
Robotic foundation models trained on large-scale manipulation datasets have shown promise in learning generalist policies, but they often overfit to specific viewpoints, robot arms, and especially parallel-jaw grippers due to dataset biases. To address this limitation, we propose Cross-Embodiment In
Estimating full-hand grasp pressure from egocentric video is critical for immersive VR and robotic manipulation, yet dense tactile sensing often relies on intrusive hardware. Existing vision-based methods predominantly rely on planar surfaces or fingertip contacts, failing to generalize to complex 3…
Vision-based teleoperation systems are widely used due to their cost-effectiveness and intuitive operation. However, these systems often suffer from challenges such as hand occlusions, environmental variability, and the lack of tactile feedback, limiting their precision and applicability in complex
Tactile perception is essential for embodied agents to understand the physical attributes of objects that cannot be determined through visual inspection alone. While existing methods have made progress in visual and language modalities for physical understanding, they fail to effectively incorporate…