Author

Chuqiao Lyu

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Preprint Sep 2026

DexTouch-WM: Learning Action-Conditioned Tactile World Models from Human Touch for Dexterous Robot Manipulation

Learning predictive models of contact-rich dexterous manipulation requires dense tactile interaction, but such data are costly to scale on real robots and remain tied to embodiment-specific sensors. We introduce DexTouch-WM, an action-conditioned world model that learns from scalable human touch to jointly predict futu...

Yan-Jiao Qin, Yue Chen, Wen-Wei Lin et al. · 0 citations

#artificial intelligence Preprint Sep 2026

TouchSight: Bare-Handed Tactile Prediction from Egocentric Video via Generative Visual Augmentation

Tactile signals provide direct contact and force measurements that are essential for understanding physical interactions and enabling dexterous robotic manipulation. However, tactile sensing requires direct measurement at contact interfaces, making large-scale data collection reliant on intrusive, costly, and restricti...

Dan-Yan Zhou, Jin-Xuan Lu, Jia-Wei Lin et al. · 0 citations