CoStream: Compositional Multi-Stream Framework for Multi-Modal Manipulation

Haonan Chen*, Yuxiang Ma*, Stephen Tian, Xiaoshen Han, Wenlong Huang, Yunzhu Li, Jiajun Wu, Edward Adelson, Yilun Du

Coming soon, under submission to RSS 2026

A composable foundation model combining a VLM planner, world model, and high-frequency reactive policy based on tactile and force-torque sensing. The multi-stream structure solves high-level planning and fine-grained manipulation skills at different levels, enabling long-horizon tasks with reactive correction behavior.

InvariantCloud: Globally Invariant Point Cloud Registration for High-Precision 6DoF Tactile Pose Tracking

Pengfei Ye, Yuxiang Ma, Yi Zhou, Molong Duan

ICRA 2026

[paper]

A framework for 6-DoF tactile object pose estimation using vision-based tactile sensors, leveraging globally invariant surface marker arrangements for one-shot point cloud registration — achieving sub-2° yaw tracking error and addressing cumulative drift in z-axis rotation estimation.

Dynamic Regrasping with Asynchronous Vision Feedback using a Minimalist Robotic System

Yuxiang Ma, Edward Adelson

ICRA RoboLetics 2.0 Workshop 2025

[paper] [videos]

A minimalist dynamic regrasping approach that throws an object into a ballistic trajectory and regrasps using computed-torque control, refined with asynchronous visual feedback — demonstrating successful mid-air regrasping without high-speed vision or complex hardware.

Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks

Alan Zhao, Yuxiang Ma, Edward Adelson

CoRL 2024

[project website] [arxiv] [code]

A tactile representation learned from multi-sensors and multi-tasks, and a tactile dataset containing over 3M tactile images collected from 13 sensors and 11 tasks.

TacLink: A Compact Multi-phalanx Finger with Vision-based Tactile Sensing and Proprioception

Yuxiang Ma, Jialiang (Alan) Zhao, Edward Adelson

ICRA 2024

[arxiv] [video]

GelLink has three phalanges and two DOFs, actuated by only one motor and visualized by only one camera. A compact mechanism with a mirror-based tactile sensing system achieves a versatile multi-phalanx design with embedded tactile sensing and accurate proprioception.

Scalable, Simulation-Guided Compliant Tactile Finger Design

Yuxiang Ma*, Arpit Agarwal*, Sandra Liu*, Wenzhen Yuan, Edward Adelson

RoboSoft 2024

[arxiv] [video]

A simulation framework combining FEM mechanical simulation and physically based rendering (PBR) for end-to-end forward design of GelSight Fin Ray sensors, enabling faster design and prototyping of new sensors.

GelSight Baby Fin Ray: A Compact, Compliant, Flexible Finger with High-Resolution Tactile Sensing

Sandra Liu, Yuxiang Ma, Edward Adelson

RoboSoft 2023

[arxiv] [video]

Flexible mirrors and high-elongation silicone fluorescent paints incorporated into the GelSight Baby Fin Ray enable grasping through clutter and classification of in-shell nuts.

Stretchable ultrasonic arrays for the three-dimensional mapping of the modulus of deep tissue

Hongjie Hu, Yuxiang Ma, Xiaoxiang Gao, Dawei Song, Mohan Li, Hao Huang, … Sheng Xu

Nature Biomedical Engineering 2023

[paper]

A stretchable ultrasonic array for serial non-invasive elastographic measurements of tissues up to 4 cm beneath the skin at 0.5 mm spatial resolution.

A wearable cardiac ultrasound imager

Hongjie Hu, Hao Huang, Mohan Li, Xiaoxiang Gao, Lu Yin, Ruixiang Qi, Ray S. Wu, Xiangjun Chen, Yuxiang Ma, … Sheng Xu

Nature 2023

[paper]

A wearable ultrasonic device for continuous, real-time cardiac function assessment using a deep learning model that automatically extracts left ventricular volume waveforms.

The effect of arterial stiffness on the accuracy of cuff-based blood pressure measurement

Yuxiang Ma, Ying Chen, Yinji Ma, Xue Feng

Extreme Mechanics Letters 2021

[paper]

A theoretical model studying the impact of arterial wall properties on non-invasive blood pressure measurement, revealing that arteriosclerotic patients' blood pressure may be overestimated.