Publications

The International Journal of Robotics Research

A Modularized Design Approach for GelSight Family of Vision-based Tactile Sensors

Arpit Agarwal, Mohammad Amin Mirzaee, Xiping Sun, Wenzhen Yuan

International Conference on Learning Representations, 2025

Sensor-Invariant Tactile Representation

Harsh Gupta, Yuchen Mo, Shengmiao Jin, Wenzhen Yuan

IEEE International Conference on Robotics and Automation, 2025

DoorBot: Closed-Loop Task Planning and Manipulation for
Door Opening in the Wild with Haptic Feedback

Zhi Wang, Yuchen Mo, Shengmiao Jin, Wenzhen Yuan 

IEEE International Conference on Robotics and Automation, 2025

Social Gesture Recognition in SpHRI: Leveraging Fabric-Based Tactile Sensing on Humanoid Robots

Dakarai Crowder, Kojo Vandyck, Xiping Sun, James McCann, Wenzhen Yuan 

Nature Communications engineering, 2025

Vision-Based Tactile Sensor Design Using Physically Based Rendering

Arpit Agarwal, Achu Wilson, Timothy Man, Edward Adelson, Ioannis Gkioulekas, Wenzhen Yuan 

Conference on Neural Information Processing Systems, 2025

Tactile DreamFusion: Exploiting Tactile Sensing for 3D Generation

Ruihan Gao, Kangle Deng, Gengshan Yang, Wenzhen Yuan, Jun-Yan Zhu

IEEE International Conference on Robotics and Automation, 2025

Learning to Double Guess: An Active Perception Approach for Estimating the Center of Mass of Arbitrary Objects

Shengmiao Jin, Yuchen Mo, Wenzhen Yuan

IEEE Robotics and Automation Letters, 2025

GelBelt: A Vision-based Tactile Sensor for Continuous Sensing of Large Surfaces

Mohammad Amin Mirzaee, Hung-Jui Huang, Wenzhen Yuan

IEEE Robotics and Automation Letters, 2024

NormalFlow: Fast, Robust, and Accurate Contact-based Object 6DoF Pose Tracking with Vision-based Tactile Sensors

Hung-Jui Huang, Michael Kaess, Wenzhen Yuan

Advanced Materials Technologies, 2024

A Novel Parylene C Waveguide-Based High-Resolution Photonic Tactile Array Sensor

Yufan Zhang, Jay Reddy, Maysam Chamanzar, Wenzhen Yuan

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

An Intelligent Robotic System for Perceptive Pancake Batter Stirring and Precise Pouring

Xinyuan Luo, Shengmiao Jin, Hung-Jui Huang, and Wenzhen Yuan

IEEE International Conference on Soft Robotics, 2024

Scalable Simulation-Guided Compliant Tactile Finger Design

Yuxiang Ma, Arpit Agarwal, Sandra Q Liu, Wenzhen Yuan, Edward H Adelson

IEEE International Conference on Robotics and Automation, 2024

Kitchen Artist: Precise Control of Liquid Dispensing for Gourmet Plating

Hung-Jui Huang, Jingyi Xiang, Wenzhen Yuan

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023

Robotic Defect Inspection with Visual and Tactile Perception for Large-Scale Components

Arpit Agarwal, Abhiroop Ajith, Chengtao Wen, Veniamin Stryzheus, Brian Miller, Matthew Chen, Micah K Johnson, Jose Luis Susa Rincon, Justinian Rosca, Wenzhen Yuan

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023

Estimating Properties of Solid Particles Inside Container Using Touch Sensing

Xiaofeng Guo, Hung-Jui Huang, Wenzhen Yuan

IEEE International Conference on Robotics and Automation, 2023

Cable Routing and Assembly using Tactile-driven Motion Primitives

Achu Wilson, Helen Jiang, Wenzhao Lian, Wenzhen Yuan

IEEE International Conference on Robotics and Automation, 2023

Toward zero-shot sim-to-real transfer learning for pneumatic soft robot 3d proprioceptive sensing

Uksang Yoo, Hanwen Zhao, Alvaro Altamirano, Wenzhen Yuan

IEEE International Conference on Robotics and Automation, 2023

RobotSweater: Scalable, generalizable, and customizable machine-knitted tactile skins for robots

Zilin Si, Tianhong Catherine Yu, Katrene Morozov, James Mccann, Wenzhen Yuan

IEEE/CVF International Conference on Computer Vision, 2023

Controllable Visual-tactile Synthesis

Ruihan Gao, Wenzhen Yuan, Jun-Yan Zhu

IEEE Robotics and Automation Letters, 2022

Taxim: An Example-based Simulation Model for GelSight Tactile Sensors

Zilin Si, Wenzhen Yuan