Author

Zi-Jian Lin

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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. · 0 citations