Author

Fu-Cai Zhu

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Preprint Sep 2026

TACIT: Tactile Contact Supervision for Spatial Attention in Dexterous Manipulation

Visuomotor policies trained from a few demonstrations may reproduce demonstrated trajectories without reliably following changes in object position. Existing approaches with explicit attention typically obtain spatial priors from human annotation or visual models. We introduce TACIT (tactile contact informs attention),...

Yan-Hou Lai, Fu-Cai Zhu, Rui-Qiang Wang et al. · 0 citations

Preprint Aug 2026

ViHaTeleop: A Low-Cost, Lightweight Visual-Haptic Teleoperation System for Dexterous Manipulation Learning

Learning from demonstration is a promising approach for dexterous manipulation, but collecting high-quality contact-critical demonstrations remains difficult with low-cost teleoperation hardware. We present ViHaTeleop, a lightweight (0.7 kg), low-cost (\$550) visual-haptic teleoperation system with SLAM-based wrist tra...

Fu-Cai Zhu, Yan-Hou Lai, Paul Maestre et al. · 1 citation