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arXiv · 2511.05858

ViTaMIn-B: A Reliable and Efficient Visuo-Tactile Bimanual Manipulation Interface

Chuanyu Li·Chaoyi Liu·Daotan Wang·Shuyu Zhang·Lusong Li·Zecui Zeng·Fangchen Liu·Jing Xu·Rui Chen
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Abstract

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/

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Chuanyu Li, Chaoyi Liu, Daotan Wang, Shuyu Zhang, Lusong Li, Zecui Zeng, Fangchen Liu, Jing Xu, Rui Chen. 2025-11-08. ViTaMIn-B: A Reliable and Efficient Visuo-Tactile Bimanual Manipulation Interface. https://arxiv.org/abs/2511.05858

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