Visual grasp proposal generation has advanced rapidly, yet converting a selected proposal into a stable physical grasp remains a central execution-stage challenge. This paper introduces GraspTune, a tactile-driven execution-stage refinement framework that starts from a nominal proposal and applies bounded residual TCP...
Jun-Tao Li, Xing-Ke Xia, Si-Chao Liu et al.· 0 citations
Coordinated arm-hand motion planning is fundamental to dexterous robotic manipulation in complex and constrained environments. A straightforward solution is to decompose the problem into separate arm path planning and hand motion generation; however, this poses a dilemma: decomposition can miss feasible solutions that...
Zi-Yuan Wang, Yunlong Shan, Fei Mo et al.· 0 citations
Tactile sensing is essential for robots in contact-rich tasks, yet many tactile sensors still provide sparse, low-dimensional signals that do not capture sufficient information for complex robotic perception and interaction. Vision-based tactile sensors (VBTSs) offer a powerful alternative by con-verting contact-induce...
Peng Zhou, Jun Hu, Si-Han Chen et al.· 2 citations
Robotic-GST is presented, a geometry-aware spatio-temporal behaviour representation and evaluation framework that constructs a Gaussian-SAM robotic environment for real-to-sim policy verification and improves the reliability of real-world manipulation deployment.
Si-Chao Liu, Ze-Kun Wang, Li-Xuan Tang et al.· 0 citations
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