I am working on robotic tactile sensing, robotic learning and contact-rich manipulation, aiming to bring robustness to robotic foundation model.

Publication

• Gang Yan, Jinsong He, Satoshi Funabashi, Alexander Schmitz and Shigeki Sugano, “Exploratory Motion Guided Tactile Learning for Shape-Consistent Robotic Insertion”, IROS, 2024(accepted).
• Gang Yan, ZHIDA QIN, Satoshi Funabashi, Alexander Schmitz, Tito Pradhono Tomo, Sophon Somlor, Lorenzo Jamone, Shigeki Sugano, “Vision-Touch Fusion for Predicting Grasping Stability using Self Attention and Past Visual Images”, 2023 13th IEEE International Conference on Development and Learning 2023 (ICDL), oral.
• Gang Yan, Yuyeol Jun, Satoshi Funabashi, Tito Pradhono Tomo, Sophon Somlor, Alexander Schmitz, Shigeki Sugano, “Geometric Transformation: Tactile Data Augmentation for Robotic Learning”, 2023 13th IEEE International Conference on Development and Learning 2023 (ICDL), oral.
• G. Yan, A. Schmitz, S. Funabashi, S. Somlor, T. P. Tomo and S. Sugano, “A Robotic Grasping State Perception Framework With Multi-Phase Tactile Information and Ensemble Learning,” in IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 6822-6829, July 2022, doi: 10.1109/LRA.2022.3151260.
• G. Yan, A. Schmitz, S. Funabashi, S. Somlor, T. P. Tomo and S. Sugano, “A Robotic Grasping State Perception Framework With Multi-Phase Tactile Information and Ensemble Learning,",International Conference on Robotics and Automation, International Conference on Robotics and Automation 2022.
• G. Yan, A. Schmitz, T. P. Tomo, S. Somlor, S. Funabashi and S. Sugano, “Detection of Slip from Vision and Touch,” 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 2022, pp. 3537-3543, doi: 10.1109/ICRA46639.2022.9811589.
• G. Yan, A. Schmitz, S. Funabashi, S. Somlor, T. P. Tomo and S. Sugano, “SCT-CNN: A Spatio-Channel-Temporal Attention CNN for Grasp Stability Prediction,” 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, 2021, pp. 2627-2634, doi: 10.1109/ICRA48506.2021.9561397.
• S. Funabashi, G. Yan,, “Tactile Transfer Learning and Object Recognition With a Multifingered Hand Using Morphology Specific Convolutional Neural Networks,” in IEEE Transactions on Neural Networks and Learning Systems, 2022, doi: 10.1109/TNNLS.2022.3215723.
• S. Funabashi, G. Yan, A. Geier, A. Schmitz, T. Ogata and S. Sugano, “Morphology-Specific Convolutional Neural Networks for Tactile Object Recognition with a Multi-Fingered Hand,” 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019, pp. 57-63, doi: 10.1109/ICRA.2019.8793901.
• A. Geier, G. Yan, et al., “Sequential clustering for tactile image compression to enable direct adaptive feedback,” 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 8117-8124, doi: 10.1109/IROS40897.2019.8968493.
• A. Geier, G. Yan, T. P. Tomo, S. Somlor and S. Sugano, “Deep GRU-ensembles for active tactile texture recognition with soft, distributed skin sensors in dynamic contact scenarios,” 2020 IEEE/SICE International Symposium on System Integration (SII), Honolulu, HI, USA, 2020, pp. 127-132, doi: 10.1109/SII46433.2020.9025993.