ViTaMIn-B: A Reliable and Efficient Visuo-Tactile Bimanual Manipulation Interface
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arXiv
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| Main Authors: | , , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866917117274619904 |
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| author | Li, Chuanyu Liu, Chaoyi Wang, Daotan Zhang, Shuyu Li, Lusong Zeng, Zecui Liu, Fangchen Xu, Jing Chen, Rui |
| author_facet | Li, Chuanyu Liu, Chaoyi Wang, Daotan Zhang, Shuyu Li, Lusong Zeng, Zecui Liu, Fangchen Xu, Jing Chen, Rui |
| contents | Handheld devices have opened up unprecedented opportunities to collect large-scale, high-quality demonstrations efficiently. However, existing systems often lack robust tactile sensing or reliable pose tracking to handle complex interaction scenarios, especially for bimanual and contact-rich tasks. In this work, we propose ViTaMIn-B, a more capable and efficient handheld data collection system for such tasks. We first design DuoTact, a novel compliant visuo-tactile sensor built with a flexible frame to withstand large contact forces during manipulation while capturing high-resolution contact geometry. To enhance the cross-sensor generalizability, we propose reconstructing the sensor's global deformation as a 3D point cloud and using it as the policy input. We further develop a robust, unified 6-DoF bimanual pose acquisition process using Meta Quest controllers, which eliminates the trajectory drift issue in common SLAM-based methods. Comprehensive user studies confirm the efficiency and high usability of ViTaMIn-B among novice and expert operators. Furthermore, experiments on four bimanual manipulation tasks demonstrate its superior task performance relative to existing systems. Project page: https://chuanyune.github.io/ViTaMIn-B_page/ |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_05858 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | ViTaMIn-B: A Reliable and Efficient Visuo-Tactile Bimanual Manipulation Interface Li, Chuanyu Liu, Chaoyi Wang, Daotan Zhang, Shuyu Li, Lusong Zeng, Zecui Liu, Fangchen Xu, Jing Chen, Rui Robotics Handheld devices have opened up unprecedented opportunities to collect large-scale, high-quality demonstrations efficiently. However, existing systems often lack robust tactile sensing or reliable pose tracking to handle complex interaction scenarios, especially for bimanual and contact-rich tasks. In this work, we propose ViTaMIn-B, a more capable and efficient handheld data collection system for such tasks. We first design DuoTact, a novel compliant visuo-tactile sensor built with a flexible frame to withstand large contact forces during manipulation while capturing high-resolution contact geometry. To enhance the cross-sensor generalizability, we propose reconstructing the sensor's global deformation as a 3D point cloud and using it as the policy input. We further develop a robust, unified 6-DoF bimanual pose acquisition process using Meta Quest controllers, which eliminates the trajectory drift issue in common SLAM-based methods. Comprehensive user studies confirm the efficiency and high usability of ViTaMIn-B among novice and expert operators. Furthermore, experiments on four bimanual manipulation tasks demonstrate its superior task performance relative to existing systems. Project page: https://chuanyune.github.io/ViTaMIn-B_page/ |
| title | ViTaMIn-B: A Reliable and Efficient Visuo-Tactile Bimanual Manipulation Interface |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.05858 |