Nima Fazeli

収録論文 52本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• 触覚シミュレーションを使わない触覚Sim2Real：ボトルネック潜在再構成による実現
  sim2real2026/8/16

  触覚センサのシミュレーションを避け、シミュレータ内のオラクルセンサ（点群と指先力）で学習したポリシーを、実センサの潜在表現をオラクルに合わせることで実機に転移するフレームワークを提案。挿入や歯車噛み合わせで高成功率を達成。

• Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots
  2026/7/1
• TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models
  2026/6/1
• RoboMME: Benchmarking and Understanding Memory for Robotic Generalist Policies
  2026/3/1
• HydroShear: Hydroelastic Shear Simulation for Tactile Sim-to-Real Reinforcement Learning
  2026/3/1
• TactAlign: Human-to-Robot Policy Transfer via Tactile Alignment
  2026/2/1
• Sound of Touch: Active Acoustic Tactile Sensing via String Vibrations
  2026/2/1
• GrOMP: Grasped Object Manifold Projection for Multimodal Imitation Learning of Manipulation
  2025/12/1
• Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing
  2025/12/1
• Contact-Rich Robotic Assembly in Construction via Diffusion Policy Learning
  2025/11/1
• Using Temperature Sampling to Effectively Train Robot Learning Policies on Imbalanced Datasets
  2025/10/1
• Cross-Sensor Touch Generation
  2025/10/1
• Hydrosoft: Non-Holonomic Hydroelastic Models for Compliant Tactile Manipulation
  2025/9/1
• AimBot: A Simple Auxiliary Visual Cue to Enhance Spatial Awareness of Visuomotor Policies
  2025/8/1
• Vib2Move: In-Hand Object Reconfiguration via Fingertip Micro-Vibrations
  2025/6/1
• ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation
  2025/6/1
• Estimating Deformable-Rigid Contact Interactions for a Deformable Tool via Learning and Model-Based Optimization
  2025/5/1
• ViSA-Flow: Accelerating Robot Skill Learning via Large-Scale Video Semantic Action Flow
  2025/5/1
• Neural Inverse Source Problems
  2024/11/1
• Contrastive Touch-to-Touch Pretraining
  2024/10/1
• RACER: Rich Language-Guided Failure Recovery Policies for Imitation Learning
  2024/9/1
• Visual-auditory Extrinsic Contact Estimation
  2024/9/1
• Built Different: Tactile Perception to Overcome Cross-Embodiment Capability Differences in Collaborative Manipulation
  2024/9/1
• Bimanual In-hand Manipulation using Dual Limit Surfaces
  2024/9/1
• Touch2Touch: Cross-Modal Tactile Generation for Object Manipulation
  2024/9/1
• GelSlim 4.0: Focusing on Touch and Reproducibility
  2024/9/1
• Tactile Neural De-rendering
  2024/9/1
• Tactile Functasets: Neural Implicit Representations of Tactile Datasets
  2024/9/1
• RUMI: Rummaging Using Mutual Information
  2024/8/1
• This&That: Language-Gesture Controlled Video Generation for Robot Planning
  2024/7/1
• Tactile-Driven Non-Prehensile Object Manipulation via Extrinsic Contact Mode Control
  2024/5/1
• Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback
  2023/5/1
• MultiSCOPE: Disambiguating In-Hand Object Poses with Proprioception and Tactile Feedback
  2023/5/1
• Precise Object Sliding with Top Contact via Asymmetric Dual Limit Surfaces
  2023/5/1
• CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data
  2023/5/1
• Lumped-Parameter Modeling and Control for Robotic High-Viscosity Fluid Dispensing in Additive Manufacturing
  2022/10/1
• Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing
  2022/10/1
• VIRDO++: Real-World, Visuo-tactile Dynamics and Perception of Deformable Objects
  2022/10/1
• Visuo-Tactile Transformers for Manipulation
  2022/10/1
• Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control
  2022/9/1
• Simultaneous Contact Location and Object Pose Estimation Using Proprioception and Tactile Feedback
  2022/6/1
• VIRDO: Visio-tactile Implicit Representations of Deformable Objects
  2022/2/1
• Soft Tracking Using Contacts for Cluttered Objects to Perform Blind Object Retrieval
  2022/1/1
• TAMPC: A Controller for Escaping Traps in Novel Environments
  2020/10/1
• Long-Horizon Prediction and Uncertainty Propagation with Residual Point Contact Learners
  2020/9/1
• Combining Physical Simulators and Object-Based Networks for Control
  2019/4/1
• Augmenting Physical Simulators with Stochastic Neural Networks: Case Study of Planar Pushing and Bouncing
  2018/8/1
• Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching
  2017/10/1
• Fundamental Limitations in Performance and Interpretability of Common Planar Rigid-Body Contact Models
  2017/10/1
• Learning Data-Efficient Rigid-Body Contact Models: Case Study of Planar Impact
  2017/10/1
• More than a Million Ways to Be Pushed: A High-Fidelity Experimental Dataset of Planar Pushing
  2016/4/1
• A Summary of Team MIT's Approach to the Amazon Picking Challenge 2015
  2016/4/1