Author

D. Tsetserukou

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Preprint Sep 2026

CognitiveReality: Robot-Agnostic Semantic Gaussian Mapping with an LLM Agent for Immersive Collaborative VR Teleoperation

A photorealistic 3D view tells a teleoperator where a robot is, but not what the scene contains, how well each object has been observed, or how to turn pointing and speech into robot action. CognitiveReality turns a robot's RGB-D stream into a live, semantically indexed Gaussian-TSDF map shared by an operator in virtua...

Timofei Kozlov, Dmitrii Maliukov, Andrey Marchenko et al. · 0 citations

Preprint Sep 2026

ZeroTouch: Tactile-Supervised Visual Contact Estimation for Contact-Rich Manipulation

Reliable robotic grasping benefits from estimating the evolving physical interaction and selecting a grasp-dependent compression target. Tactile sensors provide direct interaction measurements but require dedicated hardware at deployment. We introduce ZeroTouch, a tactile-supervised framework that predicts dense contac...

D. Kosenkov, Daniia Zinniatullina, Miguel Altamirano Cabrera et al. · 0 citations

Preprint Sep 2026

HapticWAM: Distilling Imagined Touch into a World-Action Model without Inference-Time Tactile Sensing

Contact-rich manipulation requires estimating forces, slip and contact geometry that can remain ambiguous in scene images. Optical tactile sensors provide both visual observations of the contact surface and mechanical measurements, yet learning from these signals raises two challenges: representing contact beyond appea...

M. Sannikov, I. Mikhalchuk, Konstantin Gubernatorov et al. · 0 citations