Related papers: Sim-to-Real Transfer for Optical Tactile Sensing

High-resolution multi-modality information acquired by vision-based tactile sensors can support more dexterous manipulations for robot fingers. Optical flow is low-level information directly obtained by vision-based tactile sensors, which…

Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…

Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…

Tactile sensors are breaking into the field of robotics to provide direct information related to contact surfaces, including contact events, slip events and even texture identification. These events are especially important for robotic hand…

The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…

Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is…

Achieving safe, reliable real-world robotic manipulation requires agents to evolve beyond vision and incorporate tactile sensing to overcome sensory deficits and reliance on idealised state information. Despite its potential, the efficacy…

Imitation learning for robot dexterous manipulation, especially with a real robot setup, typically requires a large number of demonstrations. In this paper, we present a data-efficient learning from demonstration framework which exploits…

The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…

Tactile perception is important for robotic systems that interact with the world through touch. Touch is an active sense in which tactile measurements depend on the contact properties of an interaction--e.g., velocity, force,…

Tactile sensing plays an important role in robotic perception and manipulation. To overcome the real-world limitations of data collection, simulating tactile response in virtual environment comes as a desire direction of robotic research.…

We study the problem of using high-resolution tactile sensors to control the insertion of objects in a box-packing scenario. We propose a new system based on a tactile sensor GelSlim for the dense packing task. In this paper, we propose an…

Adding tactile sensors to a robotic system is becoming a common practice to achieve more complex manipulation skills than those robotics systems that only use external cameras to manipulate objects. The key of tactile sensors is that they…

Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…

Tactile perception is crucial for embodied intelligent robots to recognize objects. Vision-based tactile sensors extract object physical attributes multidimensionally using high spatial resolution; however, this process generates abundant…

Simulation parameter settings such as contact models and object geometry approximations are critical to training robust robotic policies capable of transferring from simulation to real-world deployment. Previous approaches typically…

Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framework, we designed a novel sensor called ViTacTip, which…

Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that gets transmitted through its sense of touch. Among the…

Sim-to-real transfer remains a fundamental challenge in robot manipulation due to the entanglement of perception and control in end-to-end learning. We present a decoupled framework that learns each component where it is most reliable:…

Electrical Impedance Tomography (EIT)-based tactile sensors offer cost-effective and scalable solutions for robotic sensing, especially promising for soft robots. However a major issue of EIT-based tactile sensors when applied in highly…