{"id":"https://openalex.org/W4413925096","doi":"https://doi.org/10.1109/icra55743.2025.11127230","title":"UpViTaL: Unpaired Visual-Tactile Self-Supervised Representation Learning for Dexterous Robotic Manipulation","display_name":"UpViTaL: Unpaired Visual-Tactile Self-Supervised Representation Learning for Dexterous Robotic Manipulation","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925096","doi":"https://doi.org/10.1109/icra55743.2025.11127230"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127230","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127230","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016523119","display_name":"Guwen Han","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guwen Han","raw_affiliation_strings":["College of Computer Science and Technology, Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103166291","display_name":"Qingtao Liu","orcid":"https://orcid.org/0000-0002-6105-2969"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingtao Liu","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103495659","display_name":"Yu Cui","orcid":"https://orcid.org/0009-0001-6203-3022"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Cui","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101770129","display_name":"Anjun Chen","orcid":"https://orcid.org/0000-0003-4209-8301"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anjun Chen","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100726041","display_name":"Jiming Chen","orcid":"https://orcid.org/0000-0003-3155-3145"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiming Chen","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052177334","display_name":"Qi Ye","orcid":"https://orcid.org/0000-0003-0328-5075"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Ye","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20113679,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11838","last_page":"11844"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9559999704360962,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6563801765441895},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5989397764205933},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5662670731544495},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5068643689155579},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.45727211236953735},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4357648193836212},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4236207902431488}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6563801765441895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5989397764205933},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5662670731544495},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5068643689155579},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45727211236953735},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4357648193836212},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4236207902431488},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127230","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127230","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G594421888","display_name":null,"funder_award_id":"62088101,62233013","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2064675550","https://openalex.org/W2804941773","https://openalex.org/W3035624836","https://openalex.org/W3048356206","https://openalex.org/W3090143443","https://openalex.org/W3129699689","https://openalex.org/W3131966994","https://openalex.org/W3133866887","https://openalex.org/W3164862896","https://openalex.org/W4210921444","https://openalex.org/W4313156423","https://openalex.org/W4383108746","https://openalex.org/W4384518965","https://openalex.org/W4385764497","https://openalex.org/W4389665571","https://openalex.org/W4392979557","https://openalex.org/W4401414409","https://openalex.org/W4401415761","https://openalex.org/W4401416205","https://openalex.org/W4401416433","https://openalex.org/W4401417423","https://openalex.org/W4403721505"],"related_works":["https://openalex.org/W2062195135","https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2795079307","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2793058541"],"abstract_inverted_index":{"Visual":[0],"and":[1,23,89,99],"tactile":[2,24,41,90,100,109,121,125,163],"pretraining":[3,131],"have":[4],"been":[5],"extensively":[6],"studied":[7],"in":[8],"dexterous":[9,57,81,161,174],"robot":[10,80,104,175,186],"manipulation":[11,93,105,176,187],"tasks.":[12,106,177],"However,":[13],"existing":[14,191],"methods":[15,37],"typically":[16],"require":[17,159],"the":[18,52,129,200],"simultaneous":[19],"acquisition":[20],"of":[21,55,114,133],"visual":[22,88,130,139,142,194],"data,":[25],"making":[26],"it":[27],"difficult":[28],"to":[29,43,118,136,190],"utilize":[30],"low-cost,":[31],"unpaired":[32,72,87,148],"visual-tactile":[33,149],"datasets.":[34],"Moreover,":[35],"these":[36,66],"often":[38],"rely":[39],"on":[40,102,172],"sensors":[42,164],"provide":[44],"input":[45],"data":[46],"for":[47,78,92,165,193],"reinforcement":[48],"learning":[49,76,95,112],"(RL)":[50],"during":[51],"physical":[53],"deployment":[54,62],"robotic":[56,160],"hands,":[58],"which":[59,156],"highly":[60],"increases":[61],"costs.":[63],"To":[64],"address":[65],"challenges,":[67],"we":[68,84,146],"propose":[69],"UpViTaL,":[70],"an":[71,152],"visualtactile":[73],"self-supervised":[74,110],"representation":[75,111],"method":[77,197],"RLbased":[79],"manipulation.":[82],"Specifically,":[83],"collect":[85],"low-cost":[86],"datasets":[91],"skill":[94],"using":[96],"a":[97],"camera":[98],"gloves":[101],"three":[103,173],"The":[107],"temporal":[108],"module":[113,132],"UpViTaL":[115,134,182],"is":[116],"used":[117],"explore":[119],"efficient":[120,138],"representations":[122,140,150],"from":[123,141],"time-series":[124],"data.":[126,143],"In":[127,144],"parallel,":[128],"helps":[135],"extract":[137],"addition,":[145],"fuse":[147],"through":[151],"RL":[153],"reward":[154],"mechanism,":[155],"does":[157],"not":[158],"hands":[162],"practical":[166],"deployment.":[167],"We":[168],"validate":[169],"our":[170,196],"approach":[171],"Experimental":[178],"results":[179],"demonstrate":[180],"that":[181],"can":[183],"efficiently":[184],"learn":[185],"skills.":[188],"Compared":[189],"approaches":[192],"pretraining,":[195],"significantly":[198],"improves":[199],"success":[201],"rate":[202],"by":[203],"more":[204],"than":[205],"30%.":[206]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
