arXiv AI
Jul 7

OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies

arXiv:2607. 03723v1 Announce Type: cross Abstract: Visual policies learned from human videos, teleoperation, and robot demonstrations offer scalable motion priors, but often fail in contact-rich manipulation, where success significantly depends on local force and contact geometry.

By Kelin Yu, Haode Zhang, Harish Ravichandar, Yunhai Han, Ruohan Gao
arXiv Machine Learning
Sep 10

ControlTac: Scaling Tactile Data with Physically Controlled Tactile Image Generation

ControlTac is a two‑stage framework that generates realistic tactile images conditioned on a single reference image, contact force, and contact pose. By incorporating these physical priors, it produces realistic samples across different sensors and captures task‑relevant variations. Experiments in object insertion, imitation learning, and object weighting show that datasets augmented with ControlTac consistently improve performance in dynamic real‑world settings.

By Dongyu Luo, Kelin Yu, Amir-Hossein Shahidzadeh, Cornelia Ferm\"uller, Yiannis Aloimonos, Ruohan Gao