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SUMMARY:Fall 2025 GRASP SFI: Binghao Huang\, Columbia University\, "Scaling Touch: Flexible Tactile Skin for Dexterous Manipulation"
DESCRIPTION:This is a hybrid event with in-person attendance in Levine 307 and virtual attendance via Zoom.  \nABSTRACT\nTactile and visual perception are crucial for fine-grained human interactions with the environment. Developing similar multimodal sensing capabilities for robots can significantly enhance and expand their manipulation skills. This talk presents a scalable tactile stack that couples flexible\, large-area tactile skin with multimodal perception and simulation-driven learning. (1) Hardware. I will first introduce a low-cost\, flexible tactile “skin\,” outline the associated design choices\, explain why I value it over other sensors in different contexts\, and describe how I integrate it into the system to ensure high-quality tactile data. (2) Learning. Vision and touch have distinct natures yet are both important for robot decision making; I will explain how we encode tactile and visual data so that both contribute effectively to the decision-making process. (3) Scaling up Tactile Data. I will present two directions: (i) using portable tactile devices to collect large-scale real-world tactile data and leveraging this dataset to enhance policy learning\, and (ii) leveraging tactile simulation to increase policy robustness. We use a real-to-sim-to-real pipeline that calibrates a GPU-parallel tactile simulation and uses RL fine-tuning to let policies explore with the small corrective “wiggling” behaviors required for tight-fit bimanual assembly.
URL:https://seasevents.nmsdev7.com/event/fall-2025-grasp-sfi-binghao-huang/
LOCATION:Levine 307\, 3330 Walnut Street\, Philadelphia\, PA\, 19104\, United States
CATEGORIES:Seminar
ORGANIZER;CN="General Robotics%2C Automation%2C Sensing and Perception (GRASP) Lab":MAILTO:grasplab@seas.upenn.edu
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