Author

Bai-Yu Shi

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Preprint Sep 2026

VisTacAlign: Co-Training Dexterous Policies on Tactile Human and Robot Demonstrations using Visual-Tactile Alignment

Human demonstrations are a cheap source of data for dexterous manipulation, but co-training a robot policy on them requires closing the human--robot gap in every modality the policy consumes. We present VisTacAlign, a framework for co-training 3D-visual-tactile dexterous policies on human and robot demonstrations. Glov...

J. Poffet, M. Strong, Ankush Dhawan et al. · 0 citations

#machine learning Preprint Oct 2026

SoTa: Soft Tactile Skins for Dexterous Manipulation

A growing body of work suggests that tactile sensing gives robot policies contact information that complements vision in dexterous manipulation. However, visuo-tactile robot data remains scarce: dexterous demonstrations require teleoperating robots, which limits dataset scale. Human demonstrations are far cheaper to co...

Jing-Yun Yang, Bai-Yu Shi, Timothy Yu et al. · 0 citations