Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play

21 March 2023

Papers citing "Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play"

50 / 51 papers shown

Title
Adaptive Wiping: Adaptive contact-rich manipulation through few-shot imitation learning with Force-Torque feedback and pre-trained object representations Chikaha Tsuji Enrique Coronado Pablo Osorio G. Venture 12 0 0 09 May 2025
Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking Yongpeng Jiang Mingrui Yu Xinghao Zhu M. Tomizuka Xiang-Yang Li 34 0 0 08 May 2025
Zero-shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks Beining Han Abhishek Joshi Jia Deng 24 0 0 05 May 2025
KineDex: Learning Tactile-Informed Visuomotor Policies via Kinesthetic Teaching for Dexterous Manipulation Di Zhang Chengbo Yuan Chuan Wen H. Zhang Junqiao Zhao Yang Gao 15 0 0 04 May 2025
RUKA: Rethinking the Design of Humanoid Hands with Learning Anya Zorin Irmak Güzey Billy Yan Aadhithya Iyer Lisa Kondrich Nikhil X. Bhattasali Lerrel Pinto 31 0 0 17 Apr 2025
ViTa-Zero: Zero-shot Visuotactile Object 6D Pose Estimation Hongyu Li James Akl Srinath Sridhar Tye Brady Taskin Padir 35 0 0 17 Apr 2025
Towards Generalization of Tactile Image Generation: Reference-Free Evaluation in a Leakage-Free Setting Cagri Gungor Derek Eppinger Adriana Kovashka 46 0 0 10 Mar 2025
Sensor-Invariant Tactile Representation Harsh Gupta Yuchen Mo Shengmiao Jin Wenzhen Yuan 60 2 0 27 Feb 2025
ArrayBot: Reinforcement Learning for Generalizable Distributed Manipulation through Touch Zhengrong Xue H. Zhang Jin Cheng Zhengmao He Yuanchen Ju Chan-Yu Lin Gu Zhang Huazhe Xu OffRL 88 8 0 20 Feb 2025
3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing Binghao Huang Yixuan Wang Xinyi Yang Yiyue Luo Yunzhu Li 30 14 0 08 Jan 2025
Sparsh: Self-supervised touch representations for vision-based tactile sensing Carolina Higuera Akash Sharma Chaithanya Krishna Bodduluri Taosha Fan Patrick E. Lancaster ... Michael Kaess Byron Boots Mike Lambeta Tingfan Wu Mustafa Mukadam 26 11 0 31 Oct 2024
Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewards Irmak Güzey Yinlong Dai Georgy Savva Raunaq M. Bhirangi Lerrel Pinto 20 7 0 30 Oct 2024
Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins Venkatesh Pattabiraman Yifeng Cao Siddhant Haldar Lerrel Pinto Raunaq M. Bhirangi 22 4 0 22 Oct 2024
Canonical Representation and Force-Based Pretraining of 3D Tactile for Dexterous Visuo-Tactile Policy Learning Tianhao Wu Jinzhou Li Jiyao Zhang Mingdong Wu Hao Dong SSL 28 4 0 26 Sep 2024
DynaMo: In-Domain Dynamics Pretraining for Visuo-Motor Control Zichen Jeff Cui Hengkai Pan Aadhithya Iyer Siddhant Haldar Lerrel Pinto VGen 14 9 0 18 Sep 2024
Hand-Object Interaction Pretraining from Videos Himanshu Gaurav Singh Antonio Loquercio Carmelo Sferrazza Jane Wu Haozhi Qi Pieter Abbeel Jitendra Malik 27 11 0 12 Sep 2024
Learning to Singulate Objects in Packed Environments using a Dexterous Hand Hao Jiang Yuhai Wang Hanyang Zhou Daniel Seita 33 2 0 01 Sep 2024
All Robots in One: A New Standard and Unified Dataset for Versatile, General-Purpose Embodied Agents Zhiqiang Wang Hao Zheng Yunshuang Nie Wenjun Xu Qingwei Wang ... Wanxi Dong Chang Cai Liang Lin Feng Zheng Xiaodan Liang 22 4 0 20 Aug 2024
HyperTaxel: Hyper-Resolution for Taxel-Based Tactile Signals Through Contrastive Learning Hongyu Li Snehal Dikhale Jinda Cui Soshi Iba Nawid Jamali 22 1 0 15 Aug 2024
EyeSight Hand: Design of a Fully-Actuated Dexterous Robot Hand with Integrated Vision-Based Tactile Sensors and Compliant Actuation Branden Romero Hao-Shu Fang Pulkit Agrawal Edward H. Adelson 20 12 0 12 Aug 2024
Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulation Runze Yuan Tao Liu Wenke Ma Xuelong Li 17 6 0 02 Aug 2024
Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI Y. Liu Weixing Chen Yongjie Bai Xiaodan Liang Guanbin Li Wen Gao Liang Lin LM&Ro SyDa AI4CE 48 27 0 09 Jul 2024
ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data Zeyi Liu Cheng Chi Eric A. Cousineau Naveen Kuppuswamy Benjamin Burchfiel Shuran Song VGen 28 23 0 27 Jun 2024
Low Fidelity Visuo-Tactile Pretraining Improves Vision-Only Manipulation Performance Selam Gano Abraham George A. Farimani OnRL 36 0 0 21 Jun 2024
A Survey on Vision-Language-Action Models for Embodied AI Yueen Ma Zixing Song Yuzheng Zhuang Jianye Hao Irwin King LM&Ro 49 38 0 23 May 2024
DexSkills: Skill Segmentation Using Haptic Data for Learning Autonomous Long-Horizon Robotic Manipulation Tasks Xiaofeng Mao G. Giudici Claudio Coppola K. Althoefer I. Farkhatdinov Zhibin Li Lorenzo Jamone 25 5 0 06 May 2024
Learning Visuotactile Skills with Two Multifingered Hands Toru Lin Yu Zhang Qiyang Li Haozhi Qi Brent Yi Sergey Levine Jitendra Malik 29 52 0 25 Apr 2024
DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation Chen Wang Haochen Shi Weizhuo Wang Ruohan Zhang Fei-Fei Li Karen Liu 40 16 0 12 Mar 2024
Hierarchical State Space Models for Continuous Sequence-to-Sequence Modeling Raunaq M. Bhirangi Chenyu Wang Venkatesh Pattabiraman Carmel Majidi Abhinav Gupta Tess Hellebrekers Lerrel Pinto 42 8 0 15 Feb 2024
Binding Touch to Everything: Learning Unified Multimodal Tactile Representations Fengyu Yang Chao Feng Ziyang Chen Hyoungseob Park Daniel Wang ... Ziyao Zeng Xien Chen Rit Gangopadhyay Andrew Owens Alex Wong 30 52 0 31 Jan 2024
M2CURL: Sample-Efficient Multimodal Reinforcement Learning via Self-Supervised Representation Learning for Robotic Manipulation Fotios Lygerakis Vedant Dave Elmar Rueckert SSL 14 2 0 30 Jan 2024
Multimodal Visual-Tactile Representation Learning through Self-Supervised Contrastive Pre-Training Vedant Dave Fotios Lygerakis Elmar Rueckert SSL 14 16 0 22 Jan 2024
Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation Sudharshan Suresh Haozhi Qi Tingfan Wu Taosha Fan Luis Villaseñor-Pineda ... Mrinal Kalakrishnan Roberto Calandra Michael Kaess Joseph Ortiz Mustafa Mukadam 19 29 0 20 Dec 2023
Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis Yafei Hu Quanting Xie Vidhi Jain Jonathan M Francis Jay Patrikar ... Xiaolong Wang Sebastian A. Scherer Z. Kira Fei Xia Yonatan Bisk LM&Ro AI4CE 19 54 0 14 Dec 2023
Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing Ying Yuan Haichuan Che Yuzhe Qin Binghao Huang Zhao-Heng Yin Kang-Won Lee Yi Wu Soo-Chul Lim Xiaolong Wang 42 38 0 04 Dec 2023
On Bringing Robots Home Nur Muhammad (Mahi) Shafiullah Anant Rai Haritheja Etukuru Yiqian Liu Ishan Misra Soumith Chintala Lerrel Pinto 6 74 0 27 Nov 2023
Robot Learning in the Era of Foundation Models: A Survey Xuan Xiao Jiahang Liu Zhipeng Wang Yanmin Zhou Yong Qi Qian Cheng Bin He Shuo Jiang AI4CE LM&Ro 8 25 0 24 Nov 2023
The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning Carmelo Sferrazza Younggyo Seo Hao Liu Youngwoon Lee Pieter Abbeel 40 14 0 02 Nov 2023
MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation Kelin Yu Yunhai Han Matthew Zhu Vaibhav Saxena Danfei Xu Ye Zhao 8 10 0 25 Oct 2023
MUTEX: Learning Unified Policies from Multimodal Task Specifications Rutav Shah Roberto Martín-Martín Yuke Zhu OffRL 31 54 0 25 Sep 2023
See to Touch: Learning Tactile Dexterity through Visual Incentives Irmak Güzey Yinlong Dai Ben Evans Soumith Chintala Lerrel Pinto 6 30 0 21 Sep 2023
General In-Hand Object Rotation with Vision and Touch Haozhi Qi Brent Yi Sudharshan Suresh Mike Lambeta Y. Ma Roberto Calandra Jitendra Malik 58 80 0 18 Sep 2023
Few-Shot Learning of Force-Based Motions From Demonstration Through Pre-training of Haptic Representation Marina Y. Aoyama João Moura Namiko Saito S. Vijayakumar 11 5 0 08 Sep 2023
Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation Yuanpei Chen Chen Wang Fei-Fei Li C. Karen Liu 4 40 0 02 Sep 2023
A Cookbook of Self-Supervised Learning Randall Balestriero Mark Ibrahim Vlad Sobal Ari S. Morcos Shashank Shekhar ... Pierre Fernandez Amir Bar Hamed Pirsiavash Yann LeCun Micah Goldblum SyDa FedML SSL 24 270 0 24 Apr 2023
Rotating without Seeing: Towards In-hand Dexterity through Touch Zhao-Heng Yin Binghao Huang Yuzhe Qin Qifeng Chen Xiaolong Wang 93 53 0 20 Mar 2023
Real-World Robot Learning with Masked Visual Pre-training Ilija Radosavovic Tete Xiao Stephen James Pieter Abbeel Jitendra Malik Trevor Darrell SSL 144 238 0 06 Oct 2022
Visual Backtracking Teleoperation: A Data Collection Protocol for Offline Image-Based Reinforcement Learning David Brandfonbrener Stephen Tu Avi Singh Stefan Welker Chad Boodoo Nikolai Matni Jacob Varley OffRL 40 10 0 05 Oct 2022
What Matters in Learning from Offline Human Demonstrations for Robot Manipulation Ajay Mandlekar Danfei Xu J. Wong Soroush Nasiriany Chen Wang Rohun Kulkarni Li Fei-Fei Silvio Savarese Yuke Zhu Roberto Martín-Martín OffRL 139 461 0 06 Aug 2021
Deep Dynamics Models for Learning Dexterous Manipulation Anusha Nagabandi K. Konolige Sergey Levine Vikash Kumar 141 404 0 25 Sep 2019