Heterogeneous Tactile Transformer (HTT)
A self-supervised tactile backbone that learns shared representations across heterogeneous tactile sensors, boosting perception and contact-rich manipulation—even with sensors unseen during pretraining.
Jianxin Bi
VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback
We present VLA-Touch, a framework for VLA models with dual-level tactile feedback for contact-rich manipulation.
KOAP: Imitation Learning with Limited Actions via Diffusion Planners and Deep Koopman Controllers
We introduce KOAP for imitation learning with limited actions.