Publications
You can also find my articles on my Google Scholar profile.
Samanta Rodriguez*, Yiming Dou*, Miquel Oller, Andrew Owens, Nima Fazeli
9th Conference on Robotic Learning (CoRL), 2025
We prenset a method for tansferring manipulation policies between different tactile sensors by generating cross-sensor tactile signals. Using either a paired diffusion model (T2T) or an unpaired depth-based approach (T2D2), the method enables zero-shot policy transfer without retraining. We demonstrate it on a marble rolling task, where policies learned with one sensor are successfully applied to another.
Samanta Rodriguez*, Yiming Dou*, William van den Bogert, Miquel Oller, Kevin So, Andrew Owens, Nima Fazeli
International Conference on Robotics and Automation (ICRA), 2025
We present a contrastive self-supervised learning method to unify tactile feedback across different sensors, using paired tactile data. By treating paired signals as positives and unpaired ones as negatives, our approach learns a sensor-agnostic latent representation, capturing shared information without relying on reconstruction or task-specific supervision.
Samanta Rodriguez*, Yiming Do*u, Miquel Oller, Andrew Owens, Nima Fazeli
Preprint, 2024
The diversity of touch sensor designs complicates general-purpose tactile processing. We address this by training a diffusion model for cross-modal prediction, translating tactile signals between GelSlim and Soft Bubble sensors. This enables sensor-specific methods to be applied across sensor types.
