Jin-Nuo Zhang

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...