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, 2025 [paper][website][video]
2024
Tactile DreamFusion: Exploiting Tactile Sensing for 3D Generation
Ruihan Gao, Kangle Deng, Gengshan Yang, Wenzhen Yuan, Jun-Yan Zhu, Conference on Neural Information Processing Systems, 2024 [paper][website][code]
NormalFlow: Fast, Robust, and Accurate Contact-based Object 6DoF Pose Tracking with Vision-based Tactile Sensors
Hung-Jui Huang, Michael Kaess, Wenzhen Yuan, IEEE Robotics and Automation Letters, 2024 [paper][website][code]
A Novel Parylene C Waveguide-Based High-Resolution Photonic Tactile Array Sensor
Yufan Zhang, Jay Reddy, Maysamreza Chamanzar, Wenzhen Yuan, Advanced Materials Technologies, 2024 [paper]
An Intelligent Robotic System for Perceptive Pancake Batter Stirring and Precise Pouring
Xinyuan Luo *, Shengmiao Jin *, Hung-Jui Huang, and Wenzhen Yuan IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 [paper] [youtube][website]
Scalable Simulation-Guided Compliant Tactile Finger Design
Yuxiang Ma, Arpit Agarwal, Sandra Q Liu, Wenzhen Yuan, Edward H Adelson, IEEE 7th International Conference on Soft Robotics (RoboSoft), 2024 [pdf]
2023
Kitchen Artist: Precise Control of Liquid Dispensing for Gourmet Plating
Hung-Jui Huang, Jingyi Xiang, Wenzhen Yuan, IEEE International Conference on Robotics and Automation (ICRA), 2024 [pdf][website][video]
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 (IROS), 2023 [pdf]
Estimating Properties of Solid Particles Inside Container Using Touch Sensing
Xiaofeng Guo, Hung-Jui Huang, Wenzhen Yuan, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 [pdf]
Customizing Textile and Tactile Skins for Interactive Industrial Robots
Ying Su, Zhongqi Wei, James McCann, Wenzhen Yuan, Changliu Liu, ASME Letters in Dynamic Systems and Control, 2023 [pdf]
Cable Routing and Assembly using Tactile-driven Motion Primitives
Achu Wilson, Helen Jiang, Wenzhao Lian, Wenzhen Yuan, IEEE International Conference on Robotics and Automation (ICRA), 2023 [pdf]
Toward zero-shot sim-to-real transfer learning for pneumatic soft robot 3d proprioceptive sensing
Uksang Yoo, Hanwen Zhao, Alvaro Altamirano, Wenzhen Yuan, Chen Feng, IEEE International Conference on Robotics and Automation (ICRA), 2023 [pdf]
RobotSweater: Scalable, generalizable, and customizable machine-knitted tactile skins for robots
Zilin Si, Tianhong Catherine Yu, Katrene Morozov, James McCann, Wenzhen Yuan, IEEE International Conference on Robotics and Automation (ICRA), 2023 [pdf][website][video]
Controllable visual-tactile synthesis
Ruihan Gao, Wenzhen Yuan, Jun-Yan Zhu, EEE/CVF International Conference on Computer Vision, 2023 [pdf]
2022
Touch and go: Learning from human-collected vision and touch
Fengyu Yang, Chenyang Ma, Jiacheng Zhang, Jing Zhu, Wenzhen Yuan, Andrew Owens, 36th Conference on Neural Information Processing Systems (NeurIPS), 2022 [pdf][website]
PoseIt: A Visual-Tactile Dataset of Holding Poses for Grasp Stability Analysis
Shubham Kanitkar*, Helen Jiang*, Wenzhen Yuan IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 [pdf] [website]
Grasp Stability Prediction with Sim-to-Real Transfer from Tactile Sensing
Zilin Si, Zirui Zhu, Arpit Agarwal, Stuart Anderson, Wenzhen Yuan IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 [pdf] [website] [github]
Understanding Dynamic Tactile Sensing for Liquid Property Estimation
Hung-Jui Huang, Xiaofeng Guo, Wenzhen Yuan Robotics: Science and Systems (RSS), 2022 [pdf] [website]
ObjectFolder 2.0: A Multisensory Object Dataset for Sim2Real Transfer
Ruohan Gao*, Zilin Si*, Yen-Yu Chang*, Samuel Clarke, Jeannettee Bohg, Li Fei-Fei, Wenzhen Yuan, Jiajun Wu Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022 [pdf] [website] [github]
Using Collocated Vision and Tactile Sensors for Visual Servoing and Localization
Arkadeep Narayan Chaudhury, Tim Man, Wenzhen Yuan, Christopher Atkeson IEEE Robotics and Automation Letters (RA-L) with ICRA, 2022 [pdf]
Taxim: An example-based Simulation Model for GelSight Tactile Sensors
Zilin Si, Wenzhen Yuan IEEE Robotics and Automation Letters (RA-L) with ICRA, 2022 [pdf] [website] [github]
Efficient shape mapping through dense touch and vision
Sudharshan Suresh*, Zilin Si*, Joshua G. Mangelson, Wenzhen Yuan, Michael Kaess IEEE International Conference on Robotics and Automation (ICRA), 2022 [pdf] [website] [github] [dataset]
2021
Improving Grasp Stability with Rotation Measurementfrom Tactile Sensing
Raj Kolamuri*, Zilin Si*, Yufan Zhang, Arpit Agarwal, Wenzhen Yuan IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 [pdf] [website]
Simulation of Vision-based Tactile Sensors using Physics based Rendering
Arpit Agarwal, Timothy Man, Wenzhen Yuan IEEE International Conference on Robotics and Automation (ICRA), 2021 [pdf] [website] [github]