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Humans seemingly incorporate potential touch signals in their perception. Our goal is to equip robots with a similar capability, which we term Imagine2touch. Imagine2touch aims to predict the expected touch signal based on a visual patch…
We propose a means of omni-directional contact detection using accelerometers instead of tactile sensors for object shape estimation using touch. Unlike tactile sensors, our contact-based detection method tends to induce a degree of…
The Iterative Closest Point (ICP) algorithm is one of the most important algorithms for geometric alignment of three-dimensional surface registration, which is frequently used in computer vision tasks, including the Simultaneous…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
Generalist Vision-Language-Action models are currently hindered by the scarcity of robotic data compared to the abundance of human video demonstrations. Existing Latent Action Models attempt to leverage video data but often suffer from…
Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Although recent advances in robotic hardware and embodied AI have expanded their capabilities, current…
Proprioceptive localization refers to a new class of robot egocentric localization methods that do not rely on the perception and recognition of external landmarks. These methods are naturally immune to bad weather, poor lighting…
Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…
Visuotactile sensors provide high-resolution tactile information but are incapable of perceiving the material features of objects. We present UltraTac, an integrated sensor that combines visuotactile imaging with ultrasound sensing through…
In this work, we introduce the problem of cross-modal visuo-tactile object recognition with robotic active exploration. With this term, we mean that the robot observes a set of objects with visual perception and, later on, it is able to…
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own hand greatly increases the difficulty of this perceptual task.…
This letter studies a vertical federated edge learning (FEEL) system for collaborative objects/human motion recognition by exploiting the distributed integrated sensing and communication (ISAC). In this system, distributed edge devices…
In this paper, we present Tac2Pose, an object-specific approach to tactile pose estimation from the first touch for known objects. Given the object geometry, we learn a tailored perception model in simulation that estimates a probability…
Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To accurately reconstruct object contours, it is crucial for the…
Hands are dexterous and highly versatile manipulators that are central to how humans interact with objects and their environment. Consequently, modeling realistic hand-object interactions, including the subtle motion of individual fingers,…
To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…
Passive methods for object detection and segmentation treat images of the same scene as individual samples and do not exploit object permanence across multiple views. Generalization to novel or difficult viewpoints thus requires additional…
We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors. While various sensing approaches with single sensors have…
Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…