Preprint
Aug 2026
ViTacPhys: Physical Property-Aware Grasping from Human Visual-Tactile Demonstrations
Recent vision-based action models have demonstrated strong capabilities in complex manipulation, but they rarely leverage explicit object physical properties to adapt their policies. We introduce ViTacPhys, a visual-tactile framework and data acquisition system that estimates object mass and friction-coefficient classe...
Yiwen Liu, Yujun Zhu, K. Jia et al.
· 0 citations