Related papers: Open Tactile - An open, modular hardware system fo…
What does it take to build mobile manipulation systems that can competently operate on previously unseen objects in previously unseen environments? This work answers this question using opening of articulated structures as a mobile…
Visuotactile sensors are indispensable for contact-rich robotic manipulation tasks. However, policy learning with tactile feedback in simulation, especially for online reinforcement learning (RL), remains a critical challenge, as it demands…
While autonomous Uncrewed Aerial Vehicles (UAVs) have grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physical interactions, which offers a way to assist humans in…
Designing and evaluating in-vehicle interfaces requires experimental platforms that combine ecological validity with experimental control. Driving simulators are widely used for this purpose. However, they face a fundamental trade-off:…
The most common sensing modalities found in a robot perception system are vision and touch, which together can provide global and highly localized data for manipulation. However, these sensing modalities often fail to adequately capture the…
MiMiC is a flexible and efficient framework for multiscale simulations in which different subsystems are treated by individual client programs. In this work, we present a new interface with OpenMM to be used as an MM client program and we…
With the development of robot electronic skin technology, various tactile sensors, enhanced by AI, are unlocking a new dimension of perception for robots. In this work, we explore how robots equipped with electronic skin can recognize…
Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…
Handheld paradigms offer an efficient and intuitive way for collecting large-scale demonstration of robot manipulation. However, achieving contact-rich bimanual manipulation through these methods remains a pivotal challenge, which is…
This paper presents a comparative usability study on tactile and vocal interaction modes for home automation control of equipment at home for different profiles of disabled people. The study is related to the HIP HOPE project concerning the…
Tactile sensing is important for robots to perceive the world as it captures the texture and hardness of the object in contact and is robust to illumination and colour variances. However, due to the limited sensing area and the resistance…
In the near future, autonomous space systems will compose many of the deployed spacecraft. Their tasks will involve autonomous rendezvous and proximity operations with large structures, such as inspections, assembly, and maintenance of…
Real-time control systems often require dedicated hardware and software, including real-time operating systems, while many systems are available for off-line computing, mainly based on standard system units (PCs), standard network…
The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at…
Programming industrial robots is not very intuitive, and the programmer has to be a domain expert for e.g. welding and programming to know how the task is optimally executed. For SMEs such employees are not affordable, nor cost-effective.…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
This paper presents T3: Transferable Tactile Transformers, a framework for tactile representation learning that scales across multi-sensors and multi-tasks. T3 is designed to overcome the contemporary issue that camera-based tactile sensing…
Simulation has the potential to transform the development of robust algorithms for mobile agents deployed in safety-critical scenarios. However, the poor photorealism and lack of diverse sensor modalities of existing simulation engines…
We evaluate the performance and usability of mouse-based, touch-based, and tangible interaction for manipulating objects in a 3D virtual environment. This comparison is a step toward a better understanding of the limitations and benefits of…
In this paper we describe our efforts towards the development of live performance computer-based musical instrumentation. Our design criteria include initial ease of use coupled with a long term potential for virtuosity, minimal and low…