Author

Jie-Ji Ren

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Preprint Oct 2026

DeTac: Dual-branch Decoupling of Texture and Force Signals in Vision-Based Tactile Sensors

Vision-based tactile sensors enable fine-grained perception for dexterous robotic manipulation, but current marker-based designs tightly couple surface texture and contact force signals within a single observation. Existing data-driven decoupling methods rely on serial mask-based inpainting, which suffers from mask-siz...

Zhi-Rui Zhang, Yun-Kai Tang, Jia-Hang Li et al. · 0 citations

#computer vision Preprint Nov 2025

MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulation

MILE, a teleoperation-based data-collection system comprising the wearable MILE exoskeleton and the mechanically corresponding MILE-Tac robotic hand, and trained paired ACT and DP policies with and without tactile input on MILE-collected demonstrations for downstream imitation learning.

Jinda Du, Jie-Ji Ren, Qiao-Jun Yu et al. · 6 citations