OSOmanScience
Authors

Pengfei Ye

Publications 2

Preprint Open access

Robot Learning with Visual Predicted Force

Haonan Chen, Feiyang Wu, Yuxiang Ma et al. · 2026

Force-aware manipulation typically relies on specialized force or tactile sensors. We show that force-aware manipulation can instead be achieved through visual force prediction from the deformation of a compliant Fin Ray gripper. Our approach trains two models. First, we train a visual force estimator on calibration da …

Preprint Open access

GlowTact: Simple and Compact Vision-Based Tactile Sensing with High Sensitivity and Spatial Resolution

Yuxiang Ma, Megha Tippur, Pengfei Ye et al. · 2026

Vision-based tactile sensors (VBTS) provide rich contact information for robotic manipulation, but existing designs can be hard to simplify and adapt to the size and constraints of humanoid fingertips. We introduce \textbf{GlowTact}, a pressure-responsive vision-based tactile sensing mechanism that directly visualizes …

Co-authors

Haonan ChenFeiyang WuYuxiang MaMustafa MeteJunxuan ShenCheng ZhuAurora RuggeriKelvin CheungJiayuan MaoEdward AdelsonJiajun WuRobert D. Howe