论文

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Papers

2026

  1. NeuralTouch: Neural Descriptors for Precise Sim-to-Real Tactile Robot Control
    Yijiong Lin, Bowen Deng, Chenghua Lu, Max Yang, Efi Psomopoulou, and Nathan F. Lepora
    IEEE/ASME Transactions on Mechatronics (TMECH), 2026
    Accepted

2025

  1. ViTacGen: Robotic Pushing with Vision-to-Touch Generation
    Zhiyuan Wu, Yijiong Lin, Yongqiang Zhao, Xuyang Zhang, Zhuo Chen, Nathan F. Lepora, and Shan Luo
    IEEE Robotics and Automation Letters (RA-L), 2025
    Paper Code Website
  2. Tactile SoftHand-A: 3D-Printed, Tactile, Highly-Underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism
    Haoran Li, Christopher J. Ford, Chenghua Lu, Yijiong Lin, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, and Nathan F. Lepora
    The International Journal of Robotics Research (IJRR), 2025
    Paper Code
  3. Classification of Vision-Based Tactile Sensors: A Review
    Haoran Li, Yijiong Lin, Chenghua Lu, Max Yang, Efi Psomopoulou, and Nathan F. Lepora
    IEEE Sensors Journal, 2025
    Paper
  4. SimShear: Sim-to-Real Shear-based Tactile Servoing
    Kipp Freud*, Yijiong Lin*, and Nathan F. Lepora
    9th Annual Conference on Robot Learning (CoRL), 2025
    Website
  5. Text2Touch: Tactile In-Hand Manipulation with LLM-Designed Reward Functions
    Harrison Field, Max Yang, Yijiong Lin, Efi Psomopoulou, David A.W. Barton, and Nathan F. Lepora
    9th Annual Conference on Robot Learning (CoRL), 2025
    Website
  6. Snap-it, tap-it, splat-it: Tactile-informed 3d gaussian splatting for reconstructing challenging surfaces
    Mauro Comi, Alessio Tonioni, Max Yang, Jonathan Tremblay, Valts Blukis, Yijiong Lin, Nathan F. Lepora, and Laurence Aitchison
    International Conference on 3D Vision, 2025
    Website
  7. Coarse-to-fine Robotic Pushing using Touch, Vision and Proprioception
    Bowen Deng, Yijiong Lin, Max Yang, and Nathan F. Lepora
    IEEE Robotics and Automation Letters (RA-L), 2025
    Paper

2024

  1. Anyrotate: Gravity-invariant in-hand object rotation with sim-to-real touch
    Max Yang, Chenghua Lu, Alex Church, Yijiong Lin, Chris Ford, Haoran Li, Efi Psomopoulou, David A.W. Barton, and Nathan F. Lepora
    8th Annual Conference on Robot Learning (CoRL), 2024
    Website
  2. Touchsdf: A deepsdf approach for 3d shape reconstruction using vision-based tactile sensing
    Mauro Comi, Yijiong Lin, Alex Church, Alessio Tonioni, Laurence Aitchison, and Nathan F. Lepora
    IEEE Robotics and Automation Letters (RA-L), 2024
    Website

2023

  1. Sim-to-real model-based and model-free deep reinforcement learning for tactile pushing
    Max Yang, Yijiong Lin, Alex Church, John Lloyd, Dandan Zhang, David A.W. Barton, and Nathan F. Lepora
    IEEE Robotics and Automation Letters (RA-L), 2023
    Website
  2. Bi-Touch: Bimanual Tactile Manipulation With Sim-to-Real Deep Reinforcement Learning
    Yijiong Lin, Alex Church, Max Yang, Haoran Li, John Lloyd, Dandan Zhang, and Nathan F. Lepora
    IEEE Robotics and Automation Letters (RA-L), 2023
    Paper Code Website Press
  3. Attention for Robot Touch: Tactile Saliency Prediction for Robust Sim-to-Real Tactile Control
    Yijiong Lin, Mauro Comi, Alex Church, Dandan Zhang, and Nathan F Lepora
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
    Paper Website

2022

  1. Tactile Gym 2.0: Sim-to-real Deep Reinforcement Learning for Comparing Low-cost High-Resolution Robot Touch
    Yijiong Lin, John Lloyd, Alex Church, and Nathan F. Lepora
    IEEE Robotics and Automation Letters (RA-L), Aug 2022
    Paper Code Website
  2. DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch
    Nathan F. Lepora, Yijiong Lin, Ben Money-Coomes, and John Lloyd
    IEEE Robotics and Automation Letters (RA-L), Aug 2022
    Paper Code Website
  3. ICAC
    Graph Neural Networks for Interpretable Tactile Sensing
    Wen Fan, Hongbo Bo, Yijiong Lin, Yifan Xing, Weiru Liu, Nathan Lepora, and Dandan Zhang
    In 27th International Conference on Automation and Computing (ICAC), Aug 2022
    Paper

2021

  1. Probabilistic Discriminative Models address the Tactile Perceptual Aliasing Problem
    John Lloyd, Yijiong Lin, and Nathan F. Lepora
    In Robotics: Science and Systems (RSS), Jul 2021
    Paper

2020

  1. Invariant Transform Experience Replay: Data Augmentation for Deep Reinforcement Learning
    Yijiong Lin, Jiancong Huang, Matthieu Zimmer, Yisheng Guan, Juan Rojas, and Paul Weng
    IEEE Robotics and Automation Letters (RA-L), Jul 2020
    Paper Code Website
  2. ICIRA
    Variational Augmented the Heuristic Funnel-Transitions Model for Dexterous Robot Manipulation
    Jiancong Huang*, Yijiong Lin*, Hongmin Wu, and Yisheng Guan
    In International Conference on Intelligent Robotics and Applications, Jul 2020
    Paper

2019

  1. NeurIPS
    Towards more sample efficiency in reinforcement learning with data augmentation
    Yijiong Lin, Jiancong Huang, Matthieu Zimmer, Juan Rojas, and Paul Weng
    In 33rd Conference on Neural Information Processing Systems (NeurIPS) workshop on Robot Learning, Dec 2019
    Paper Website

2018

  1. ROBIO
    An Odd-Form Electronic Component Insertion System Based on Dual SCARA
    Yijiong Lin, Yihui Li, Yan Huang, Kaifu Zhang, Haifei Zhu, Yansui Liu, and Yisheng Guan
    In 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec 2018
    Paper
  2. ROBIO
    A Less-Dependent Threshold Corner Detection Algorithm
    Yihui Li, Haifei Zhu, Yan Huang, Yijiong Lin, Xubin Lin, and Yisheng Guan
    In 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec 2018
    Paper
  3. JIRS
    Endowing Robots with Longer-term Autonomy by Recovering from External Disturbances in Manipulation Through Grounded Anomaly Classification and Recovery Policies
    Shuangqi Luo, Hongmin Wu, Shuangda Duan, Yijiong Lin, and Juan Rojas
    In Journal of Intelligent and Robotic Systems, Sep 2018
    Paper Website