TacThru

YuyangLee

Combined tactile and visual perception for learning contact-rich manipulation.

What you can explore

Explore the sensor and TacThru-UMI workflow, data resources and multimodal policy examples.

Before you use it

The sensor and collection interface must match the documented configuration. Broader gripper-based results should not be read as validation on a five-finger hand.

Original contributors

Yuyang Li, Yinghan Chen and TacThru collaborators

License / access: Code: MIT · check external data, models and hardware terms separately

Original code & documentation

Research paper

Editorial reference · checked 2026-09-22