M2R2 proposes a multimodal robotic representation for temporal action segmentation that combines proprioceptive and exteroceptive sensors with a novel training strategy enabling feature reuse across models, achieving new state-of-the-art results on three robotic datasets.
See, hear, and feel: Smart sensory fusion for robotic manipulation
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UniTacVLA builds a state-aware and dynamics-aware tactile prior via unified latent space, tactile chain-of-thought, and mixed real/predicted feedback controller to boost dexterous manipulation performance.
MiTaS fuses multi-resolution tactile data from GelSight and Evetac sensors with vision using modality-specific stems and transformer fusion to condition flow-matching policies, reporting 80% average success on five contact-rich tasks versus 31-54% baselines.
A vision-language-action policy that predicts future tactile images and uses that predicted touch to refine its actions reaches up to 95% success on contact-rich manipulation.
A visuo-tactile policy learning method that exploits tactile motion correlation for contact state distinction and Mixture-of-Transformers for cross-modal fusion.
MSDP pre-trains a transformer encoder with masked multisensory autoencoding, then uses an asymmetric actor-critic bridge (cross-attention for critic, pooling for actor) to accelerate and robustify contact-rich RL across simulation and real robots.
citing papers explorer
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M2R2: MultiModal Robotic Representation for Temporal Action Segmentation
M2R2 proposes a multimodal robotic representation for temporal action segmentation that combines proprioceptive and exteroceptive sensors with a novel training strategy enabling feature reuse across models, achieving new state-of-the-art results on three robotic datasets.
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UniTacVLA: Unified Tactile Understanding and Prediction in Vision Language Action Models
UniTacVLA builds a state-aware and dynamics-aware tactile prior via unified latent space, tactile chain-of-thought, and mixed real/predicted feedback controller to boost dexterous manipulation performance.
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Multi-Resolution Tactile Imitation Learning for Contact-Rich Robotic Manipulation
MiTaS fuses multi-resolution tactile data from GelSight and Evetac sensors with vision using modality-specific stems and transformer fusion to condition flow-matching policies, reporting 80% average success on five contact-rich tasks versus 31-54% baselines.
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Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation
A vision-language-action policy that predicts future tactile images and uses that predicted touch to refine its actions reaches up to 95% success on contact-rich manipulation.
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Seeing Touch from Motion: A Unified Modality-Aware Visuo-Tactile Policy with Tactile Motion Correlation
A visuo-tactile policy learning method that exploits tactile motion correlation for contact state distinction and Mixture-of-Transformers for cross-modal fusion.
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Self-Supervised Multisensory Pretraining for Contact-Rich Robot Reinforcement Learning
MSDP pre-trains a transformer encoder with masked multisensory autoencoding, then uses an asymmetric actor-critic bridge (cross-attention for critic, pooling for actor) to accelerate and robustify contact-rich RL across simulation and real robots.