arXiv subjects

Hanbing Zhang

Publications and source records attributed to Hanbing Zhang.

3 recordsLinked to original sources

arXiv2026

TactiDex: A Real-World Tactile-Guided Benchmark for Human-Like Dexterous Manipulation

Tactile feedback is fundamental to Hand-Object Interaction (HOI), governing contact formation, force regulation, and stable manipulation, making it essential for achieving true human-like dexterous manipulation. Yet, current human-to-robot dexterous transfer pipelines primarily rely on kinematic trajectories, resulting in motion imitation without physically grounded interaction. To address this, we introduce TactiDex, a real-world tactile-guided benchmark specifically designed to move dexterous manipulation beyond kinematic mimicry toward contact-level human-likeness. TactiDex provides a comprehensive dataset that elegantly aligns whole-hand tactile signals with multi-granularity kinematic and object states, coupled with standardized evaluation metrics. Building upon this data paradigm, we propose a tactile-driven transfer framework that effectively translates human demonstrations into physically plausible robotic execution. We introduce TactiSkill, a framework built upon a novel tri-component tactile reward that innovatively uses tactile signals as structured supervision. This reward unifies guidance, human-like alignment, and contact constraints into a single objective. Through comprehensive experiments on both single and bimanual tasks, we demonstrate that TactiSkill achieves superior performance in manipulation success and physical realism. This work lays a crucial foundation for advancing tactile-aware dexterous manipulation. Our project page at https://tactidex.github.io/.

cs.RO↗

arXiv2026

S2Accompanist: A Semantic-Aware and Structure-Guided Diffusion Model for Music Accompaniment Generation

High-fidelity text-to-music generation typically relies on massive proprietary datasets and immense computational resources. Existing models often struggle to generate coherent pure musical accompaniments and lack precise, localized semantic control due to their reliance on coarse, track-level annotations. To address these limitations under constrained data and computing resources, we propose S2Accompanist, a Semantic-Aware and Structure-Guided Diffusion Model developed for the ICME2026 ATTM Grand Challenge. Specifically, we design an automated data pipeline comprising structural segmentation, Large Audio-Language Model driven segment-level captioning, and dual-metric quality grading to overcome the absence of localized metadata in raw datasets. Furthermore, we propose a semantic-aware Variational Autoencoder fine-tuning strategy that explicitly distills foundational LeadSheet structures into the acoustic latent space, effectively improving the overall audio fidelity. Extensive experiments demonstrate that S2Accompanist achieves state-of-the-art objective performance on the ATTM Grand Challenge benchmark across both the Efficiency and Performance Tracks. With only 402M parameters, our model remains competitive compared to larger-scale unconstrained models and secured first place in the Efficiency Track.

eess.AS↗

arXiv2026

Vision-Guided MPPI for Agile Drone Racing: Navigating Arbitrary Gate Poses via Neural Signed Distance Fields

Autonomous drone racing requires the tight coupling of perception, planning, and control under extreme agility. However, recent approaches typically rely on precomputed spatial reference trajectories or explicit 6-DoF gate pose estimation, rendering them brittle to spatial perturbations, unmodeled track changes, and sensor noise. Conversely, end-to-end learning policies frequently overfit to specific track layouts and struggle with zero-shot generalization. To address these fundamental limitations, we propose a fully onboard, vision guided optimal control framework that enables reference-free agile flight through arbitrarily placed and oriented gates. Central to our approach is Gate-SDF, a novel, implicitly learned neural signed distance field. Gate-SDF directly processes raw, noisy depth images to predict a continuous spatial field that provides both collision repulsion and active geometric guidance toward the valid traversal area. We seamlessly integrate this representation into a sampling-based Model Predictive Path Integral (MPPI) controller. By fully exploiting GPU parallelism, the framework evaluates these continuous spatial constraints across thousands of simulated trajectory rollouts simultaneously in real time. Furthermore, our formulation inherently maintains spatial consistency, ensuring robust navigation even under severe visual occlusion during aggressive maneuvers. Extensive simulations and real-world experiments demonstrate that the proposed system achieves high-speed agile flight and successfully navigates unseen tracks subject to severe unmodeled gate displacements and orientation perturbations. Videos are available at https://zhaofangguo.github.io/vision_guided_mppi/

cs.RO↗