Nima Fazeli — Papers on Cortexa

arxivcs.RO2026-07-17

Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots

Wenzhe Tong, Jonathan Mi, Xili Yi, Nima Fazeli, Xiaonan Huang

This paper presents a scalable, open-source visuotactile sensing system for tensegrity robots that enables six-axis wrench estimation and contact detection. The proposed endcap sensor integrates an elastomeric shell, a 3D-printed thermoplastic polyurethane (TPU) interface, and a…

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arxivcs.RO2026-06-27

TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models

Mark Van der Merwe, Mohamad Louai Shehab, Jayjun Lee, Youngsun Wi, Yinpei Dai, Dmitry Berenson, et al.

Vision-Language-Action (VLA) models demonstrate impressive reasoning over visual, semantic, and spatial task variations by leveraging large-scale vision and language pre-training. They remain, however, largely blind to contact forces, which seldom manifest clearly in visual feedb…

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