HACo: Learning Haptic Active Compliance for Force-Aware Dexterous Manipulation
cs.RO
Submitted: 2026-09-29
Updated: 2026-09-29
Project page: https://opendrivelab.github.io/Haco-Page
Terminology
Sources
- Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization
- VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation
- OmniVTLA: Vision-Tactile-Language-Action Models with Semantic-Aligned Tactile Sensing
- Tactile-WAM: Touch-Aware World Action Model with Tactile Asymmetric Attention
- ViTacWorld: Scaling Visuo-Tactile World Models for Contact-Rich Robot Manipulation
- FeelWorld: Visuo-Tactile World Model for Hierarchical Contact Prediction and Planning
- T-Rex: Tactile-Reactive Dexterous Manipulation
- FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation
- FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation
- Current as Touch: Proprioceptive Contact Feedback for Compliant Dexterous Manipulation
- Beyond Implicit Force: Evaluating Explicit Force-Torque Proxies in Action Chunking with Transformers
- Closing the Reality Gap: Zero-Shot Sim-to-Real Deployment for Dexterous Force-Based Grasping and Manipulation
- Learning Visuotactile Skills with Two Multifingered Hands
- The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning
- Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play
- Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration
- Minimalist Compliance Control
- FILIC: Dual-Loop Force-Guided Imitation Learning with Impedance Torque Control for Contact-Rich Manipulation Tasks
- DexTeleop-0: Force-Aware Bimanual Dexterous Teleoperation with Ego-Centric Perception towards Shared Autonomy
- In-the-Wild Compliant Manipulation with UMI-FT
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