الملخص
تمت ترجمة أجزاء من هذه الصفحة آلياً وقد تحتوي على أخطاء.
Tactile feedback provides embodied agents with physical information beyond visual observations, enabling more reliable interaction with the real world. However, despite the rapid progress of vision-tactile-language-action (VTLA) policies, there remains a lack of unified benchmarks for evaluating tactile-enabled robot manipulation across simulation and the real world. To address this gap, we introduce OpenViTac, a visuo-tactile manipulation benchmark for evaluating robot policies across simulation and the real world. OpenViTac organizes contact-rich manipulation into four tactile-relevant capability dimensions and provides paired simulation-real-world settings for consistent evaluation of VLA, WAM, and VTLA policies. Building upon this benchmark, we investigate how different tactile representations and integration strategies affect the performance of pretrained VLA models. Correspondingly, we introduce OpenVTLA, a tactile augmentation framework that combines the best-performing representation and integration strategy. Furthermore, we leverage the paired benchmark setting to study sim-real co-training and analyze factors affecting cross-domain policy learning. Together, OpenViTac provides a unified platform for evaluating and advancing visuo-tactile robot manipulation.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Wu, Y., Li, Q., Min, N., Zhong, G., Zhao, H., Li, Z., Xu, H., Xu, S., Lin, X., Diao, Z., Liu, Z., Lian, S., Lu, S., Zhao, S., Ye, Z., Wu, Z., & Jiang, Y. G. (2026). OpenViTac: التعلم والقياس لسياسات البصر واللمس في إطار موحد للمحاكاة والواقع. https://omanscience.com/ar/articles/openvitac-learning-and-benchmarking-visuo-tactile-policies-in-a-unified-sim-and-real-framework
MLA 9
Wu, Yifan, et al. "OpenViTac: التعلم والقياس لسياسات البصر واللمس في إطار موحد للمحاكاة والواقع." https://omanscience.com/ar/articles/openvitac-learning-and-benchmarking-visuo-tactile-policies-in-a-unified-sim-and-real-framework.
شيكاغو (المؤلف–التاريخ)
Wu, Yifan, Qin Li, Nan Min, Guojin Zhong, Haoyu Zhao, Zhiyuan Li, Houze Xu, Shengqi Xu, Xingyao Lin, Zijie Diao, Zhaoxiang Liu, Shiguo Lian, Shunlin Lu, Shihao Zhao, Ziyi Ye, Zuxuan Wu, and Yu-Gang Jiang. 2026. "OpenViTac: التعلم والقياس لسياسات البصر واللمس في إطار موحد للمحاكاة والواقع." https://omanscience.com/ar/articles/openvitac-learning-and-benchmarking-visuo-tactile-policies-in-a-unified-sim-and-real-framework.
هارفارد
Wu, Y., Li, Q., Min, N., Zhong, G., Zhao, H., Li, Z., Xu, H., Xu, S., Lin, X., Diao, Z., Liu, Z., Lian, S., Lu, S., Zhao, S., Ye, Z., Wu, Z. and Jiang, Y. G. (2026) 'OpenViTac: التعلم والقياس لسياسات البصر واللمس في إطار موحد للمحاكاة والواقع', Available at: https://omanscience.com/ar/articles/openvitac-learning-and-benchmarking-visuo-tactile-policies-in-a-unified-sim-and-real-framework.
فانكوفر
Wu Y, Li Q, Min N, Zhong G, Zhao H, Li Z, et al. OpenViTac: التعلم والقياس لسياسات البصر واللمس في إطار موحد للمحاكاة والواقع. https://omanscience.com/ar/articles/openvitac-learning-and-benchmarking-visuo-tactile-policies-in-a-unified-sim-and-real-framework
IEEE
Y. Wu, Q. Li, N. Min, G. Zhong, H. Zhao, Z. Li, H. Xu, S. Xu, X. Lin, Z. Diao, Z. Liu, S. Lian, S. Lu, S. Zhao, Z. Ye, Z. Wu, and Y. G. Jiang, "OpenViTac: التعلم والقياس لسياسات البصر واللمس في إطار موحد للمحاكاة والواقع," https://omanscience.com/ar/articles/openvitac-learning-and-benchmarking-visuo-tactile-policies-in-a-unified-sim-and-real-framework.