{"id":"https://openalex.org/W4405785805","doi":"https://doi.org/10.1109/iros58592.2024.10801764","title":"RTTF: Rapid Tactile Transfer Framework for Contact-Rich Manipulation Tasks","display_name":"RTTF: Rapid Tactile Transfer Framework for Contact-Rich Manipulation Tasks","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785805","doi":"https://doi.org/10.1109/iros58592.2024.10801764"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801764","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5103511383","display_name":"Qiwei Wu","orcid":"https://orcid.org/0009-0008-8630-3331"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiwei Wu","raw_affiliation_strings":["School of Mechanical Engineering and Automation of Harbin Institute of Technology (Shenzhen),Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation of Harbin Institute of Technology (Shenzhen),Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xuanbin Peng","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanbin Peng","raw_affiliation_strings":["School of Mechanical Engineering and Automation of Harbin Institute of Technology (Shenzhen),Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation of Harbin Institute of Technology (Shenzhen),Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051239577","display_name":"Jiayu Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiayu Zhou","raw_affiliation_strings":["School of Mechanical Engineering and Automation of Harbin Institute of Technology (Shenzhen),Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation of Harbin Institute of Technology (Shenzhen),Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhuoran Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuoran Sun","raw_affiliation_strings":["School of Mechanical Engineering and Automation of Harbin Institute of Technology (Shenzhen),Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation of Harbin Institute of Technology (Shenzhen),Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038784686","display_name":"Xiaogang Xiong","orcid":"https://orcid.org/0000-0002-6469-5281"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaogang Xiong","raw_affiliation_strings":["School of Mechanical Engineering and Automation of Harbin Institute of Technology (Shenzhen),Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation of Harbin Institute of Technology (Shenzhen),Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087749601","display_name":"Yunjiang Lou","orcid":"https://orcid.org/0000-0001-8203-7795"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunjiang Lou","raw_affiliation_strings":["School of Mechanical Engineering and Automation of Harbin Institute of Technology (Shenzhen),Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation of Harbin Institute of Technology (Shenzhen),Shenzhen,China,518055","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2913","last_page":"2920"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9977999925613403,"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":0.9977999925613403,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9779000282287598,"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":0.6352142691612244},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.422207772731781}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6352142691612244},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.422207772731781}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801764","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320329791","display_name":"Shenzhen Fundamental Research Program","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2011418219","https://openalex.org/W2781493652","https://openalex.org/W2963915174","https://openalex.org/W3044051321","https://openalex.org/W3111503198","https://openalex.org/W3138117074","https://openalex.org/W3176485999","https://openalex.org/W3176646219","https://openalex.org/W4285102554","https://openalex.org/W4285232917","https://openalex.org/W4292231110","https://openalex.org/W4308080771","https://openalex.org/W4316661152","https://openalex.org/W4322707307","https://openalex.org/W4383108271","https://openalex.org/W4384519010","https://openalex.org/W4385477996","https://openalex.org/W6634230617","https://openalex.org/W6637568146","https://openalex.org/W6751497200","https://openalex.org/W6775087876","https://openalex.org/W6776730770","https://openalex.org/W6779823529","https://openalex.org/W6786993690","https://openalex.org/W6787100402","https://openalex.org/W6797113185","https://openalex.org/W6804292090","https://openalex.org/W6805024577","https://openalex.org/W6850328433","https://openalex.org/W6851314648","https://openalex.org/W6852460115"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"An":[0],"increasing":[1],"number":[2],"of":[3,23,53,66,95,123],"robotic":[4,24,97],"manipulation":[5],"tasks":[6],"now":[7],"use":[8],"optical":[9],"tactile":[10,14,17,31,43,67,73,84,115,133,143],"sensors":[11,134],"to":[12,76],"provide":[13],"feedback,":[15],"making":[16],"servo":[18,44],"control":[19,45,116],"a":[20,29,56,77,82,103,113],"crucial":[21],"aspect":[22,52],"operations.":[25],"This":[26,87],"paper":[27],"presents":[28],"rapid":[30,147],"transfer":[32,40],"framework":[33,106,126],"(RTTF)":[34],"that":[35],"achieves":[36],"optical-tactile":[37],"image":[38,74,85],"sim2real":[39,51],"and":[41,69,149,158],"robust":[42],"using":[46],"limited":[47],"paired":[48],"data.":[49],"The":[50],"RTTF":[54],"employs":[55],"semi-supervised":[57],"approach,":[58],"beginning":[59],"with":[60,91,135,142],"pretraining":[61],"the":[62,92,96,121,124],"latent":[63,79,88],"space":[64,80],"representations":[65],"images":[68],"subsequently":[70],"mapping":[71],"different":[72,132],"domains":[75],"shared":[78],"within":[81],"simulated":[83],"domain.":[86],"space,":[89],"combined":[90],"proprioceptive":[93],"information":[94],"arm,":[98],"is":[99],"then":[100],"integrated":[101],"into":[102],"privileged":[104],"learning":[105],"for":[107,146,151],"policy":[108],"training,":[109],"which":[110],"results":[111,119],"in":[112,127],"deployable":[114],"policy.":[117],"Our":[118],"demonstrate":[120],"robustness":[122],"proposed":[125],"achieving":[128],"task":[129],"objectives":[130],"across":[131],"varying":[136],"physical":[137],"parameters.":[138],"Furthermore,":[139],"manipulators":[140],"equipped":[141],"sensors,":[144],"allow":[145],"training":[148],"deployment":[150],"diverse":[152],"contact-rich":[153],"tasks,":[154],"including":[155],"object":[156],"pushing":[157],"surface":[159],"following.":[160]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}