{"ID":2844550,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.05858","arxiv_id":"2511.05858","title":"ViTaMIn-B: A Reliable and Efficient Visuo-Tactile Bimanual Manipulation Interface","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/","short_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 pro...","url_abs":"https://arxiv.org/abs/2511.05858","url_pdf":"https://arxiv.org/pdf/2511.05858v2","authors":"[\"Chuanyu Li\",\"Chaoyi Liu\",\"Daotan Wang\",\"Shuyu Zhang\",\"Lusong Li\",\"Zecui Zeng\",\"Fangchen Liu\",\"Jing Xu\",\"Rui Chen\"]","published":"2025-11-08T05:24:00Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}