{"id":"https://openalex.org/W7160949878","doi":"https://doi.org/10.48550/arxiv.2605.08757","title":"A Visuo-Tactile Data Collection System with Haptic Feedback for Coarse-to-Fine Imitation Learning","display_name":"A Visuo-Tactile Data Collection System with Haptic Feedback for Coarse-to-Fine Imitation Learning","publication_year":2026,"publication_date":"2026-05-09","ids":{"openalex":"https://openalex.org/W7160949878","doi":"https://doi.org/10.48550/arxiv.2605.08757"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.08757","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.08757","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.08757","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135982402","display_name":"Yeseung Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kim, Yeseung","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062906776","display_name":"Nayoung Oh","orcid":"https://orcid.org/0009-0006-9912-8443"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Oh, Nayoung","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135974695","display_name":"Jun Park","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Park, Jun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135964214","display_name":"Teetat Thamronglak","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thamronglak, Teetat","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5074295573","display_name":"Daehyung Park","orcid":"https://orcid.org/0000-0002-1287-9433"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Park, Daehyung","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.5559999942779541,"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":0.5559999942779541,"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":0.24390000104904175,"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":0.03959999978542328,"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/haptic-technology","display_name":"Haptic technology","score":0.8033999800682068},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5407999753952026},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5385000109672546},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5321999788284302},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.5184000134468079},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.3944999873638153},{"id":"https://openalex.org/keywords/data-collection","display_name":"Data collection","score":0.34619998931884766},{"id":"https://openalex.org/keywords/wired-glove","display_name":"Wired glove","score":0.3400999903678894}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8033999800682068},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.738099992275238},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6488999724388123},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5468999743461609},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5407999753952026},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5385000109672546},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5321999788284302},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.5184000134468079},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4214000105857849},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.3944999873638153},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.34619998931884766},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.3400999903678894},{"id":"https://openalex.org/C2778360479","wikidata":"https://www.wikidata.org/wiki/Q1289489","display_name":"Haptic perception","level":3,"score":0.3199999928474426},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2957000136375427},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2946000099182129},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.288100004196167},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.28439998626708984},{"id":"https://openalex.org/C28063669","wikidata":"https://www.wikidata.org/wiki/Q7167042","display_name":"Perceptual system","level":3,"score":0.2793000042438507},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.275299996137619},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2603999972343445},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2599000036716461}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.08757","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.08757","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.08757","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.08757","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,35],"visuo-tactile":[3],"data-collection":[4],"system":[5,33,92],"that":[6,38,101],"generates":[7],"temporally":[8],"structured,":[9],"contact-rich":[10],"demonstrations":[11],"for":[12,97],"imitation":[13],"learning.":[14],"Conventional":[15],"systems":[16],"often":[17],"decouple":[18],"the":[19,26,39,43,67,71,91,107],"operator":[20,40,68],"from":[21],"contact":[22,60],"forces,":[23],"which":[24],"hinders":[25],"demonstration":[27],"of":[28,109],"subtle":[29],"force":[30,85],"modulation.":[31],"Our":[32],"introduces":[34],"direct-drive":[36],"gripper":[37],"actuates":[41],"with":[42,87],"fingers,":[44],"preserving":[45],"natural":[46],"haptic":[47],"feedback.":[48],"Integrated":[49],"visual":[50],"sensors":[51],"and":[52,59],"custom":[53],"tactile":[54],"arrays":[55],"capture":[56],"image":[57],"streams":[58],"geometry.":[61],"A":[62],"handle-mounted":[63],"push":[64],"button":[65],"enables":[66],"to":[69],"annotate":[70],"task's":[72],"temporal":[73,89],"structure":[74],"in":[75],"real":[76],"time":[77],"by":[78],"marking":[79],"task-critical":[80],"regions.":[81],"By":[82],"fusing":[83],"in-hand":[84],"perception":[86],"in-situ":[88],"annotation,":[90],"produces":[93],"multimodal":[94],"datasets":[95],"designed":[96],"coarse-to-fine":[98],"learning":[99],"algorithms":[100],"exploit":[102],"structural":[103],"task":[104],"knowledge,":[105],"enabling":[106],"development":[108],"high-quality":[110],"manipulation":[111],"policies.":[112]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-13T00:00:00"}
