Related papers: Spatio-temporal Attention Model for Tactile Textur…
Representation learning of the task-oriented attention while tracking instrument holds vast potential in image-guided robotic surgery. Incorporating cognitive ability to automate the camera control enables the surgeon to concentrate more on…
Spatio-temporal action detection (STAD) aims to classify the actions present in a video and localize them in space and time. It has become a particularly active area of research in computer vision because of its explosively emerging…
In multi-task learning (MTL) for visual scene understanding, it is crucial to transfer useful information between multiple tasks with minimal interferences. In this paper, we propose a novel architecture that effectively transfers…
To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tactile perception. In this study, we use a dedicated modular…
We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from touch during planar pushing. Vision-based tactile sensors…
Transformer-based models have achieved state-of-the-art performance in various computer vision tasks, including image and video analysis. However, Transformer's complex architecture and black-box nature pose challenges for explainability, a…
Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and more advanced encoding techniques. In this work, we…
Graph convolutional networks (GCNs) have been very successful in modeling non-Euclidean data structures, like sequences of body skeletons forming actions modeled as spatio-temporal graphs. Most GCN-based action recognition methods use deep…
The recovery of 3D human mesh from monocular images has significantly been developed in recent years. However, existing models usually ignore spatial and temporal information, which might lead to mesh and image misalignment and temporal…
High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…
This paper aims to present an innovative and cost-effective design for Acoustic Soft Tactile (AST) Skin, with the primary goal of significantly enhancing the accuracy of 2-D tactile feature estimation. The existing challenge lies in…
There is significant progress in recognizing traditional human activities from videos focusing on highly distinctive actions involving discriminative body movements, body-object and/or human-human interactions. Driver's activities are…
Human texture perception is a weighted average of multi-sensory inputs: visual and tactile. While the visual sensing mechanism extracts global features, the tactile mechanism complements it by extracting local features. The lack of coupled…
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…
One of the fundamental requirements for an artificial hand to successfully grasp and manipulate an object is to be able to distinguish different objects' shapes and, more specifically, the objects' surface curvatures. In this study, we…
Mainstream visual object tracking frameworks predominantly rely on template matching paradigms. Their performance heavily depends on the quality of template features, which becomes increasingly challenging to maintain in complex scenarios…
Optical tactile sensors play a pivotal role in robot perception and manipulation tasks. The membrane of these sensors can be painted with markers or remain markerless, enabling them to function in either marker or markerless mode. However,…
Tactile perception is profoundly influenced by the surface properties of objects in contact. However, despite their crucial role in shaping tactile experiences, these material characteristics have been largely neglected in existing tactile…
Modern audio-visual media rely on compact representations for efficient storage and transmission, whereas realistic digital touch still depends on high-resolution tactile recordings. Existing approaches for representing tactile signals…
Simulators perform an important role in prototyping, debugging, and benchmarking new advances in robotics and learning for control. Although many physics engines exist, some aspects of the real world are harder than others to simulate. One…