Ruihan Gao

Heterogeneous Tactile Transformer

Jianxin Bi, Qiang Wang, Jayaram Reddy, Kelvin Lin, Soibkhon Khajikhanov, Ruihan Gao, et al.

Tactile sensors are inherently heterogeneous: a model trained on one sensor cannot be directly used on another, which limits learning contact-rich manipulation policies from diverse tactile data at scale. To bridge this gap, we propose the Heterogeneous Tactile Transformer (HTT),…Read more