Preprint
Aug 2026
VISTA: Visually Inferred Spatial ConTact Attention for Contact-Rich Manipulation
Contact-rich manipulation requires precise interaction feedback. While vision-centric imitation learning is prevalent, external visual observations provide indirect and ambiguous cues about contact states, particularly under occlusion or subtle object--gripper interactions; dedicated tactile or force sensors can provid...
Jiaying Chen, Wen-Long Dong, Yan Huang et al.
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