Related papers: TactileSGNet: A Spiking Graph Neural Network for E…
This work presents a novel tactile perception-based method, named T-NT, for performing the needle-threading task, an application of deformable linear object (DLO) manipulation. This task is divided into two main stages: Tail-end Finding and…
Tactile sensing is essential to the human perception system, so as to robot. In this paper, we develop a novel optical-based tactile sensor "FingerVision" with effective signal processing algorithms. This sensor is composed of soft skin…
Tactile sensing has been used for a variety of robotic exploration and manipulation tasks but a common constraint is a requirement for a large amount of training data. This paper addresses the issue of data-efficiency by proposing a novel…
Skeleton-based human action recognition has attracted much attention with the prevalence of accessible depth sensors. Recently, graph convolutional networks (GCNs) have been widely used for this task due to their powerful capability to…
Robotic grasp should be carried out in a real-time manner by proper accuracy. Perception is the first and significant step in this procedure. This paper proposes an improved pipeline model trying to detect grasp as a rectangle…
Robotic grasping plays an important role in the field of robotics. The current state-of-the-art robotic grasping detection systems are usually built on the conventional vision, such as RGB-D camera. Compared to traditional frame-based…
The ability to perform locomotion in various terrains is critical for legged robots. However, the robot has to have a better understanding of the surface it is walking on to perform robust locomotion on different terrains. Animals and…
Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…
Action recognition is an exciting research avenue for artificial intelligence since it may be a game changer in the emerging industrial fields such as robotic visions and automobiles. However, current deep learning faces major challenges…
As robots become increasingly integrated into everyday tasks, their ability to perceive both the shape and properties of objects during in-hand manipulation becomes critical for adaptive and intelligent behavior. We present SemanticFeels,…
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…
This work introduces GazeSCRNN, a novel spiking convolutional recurrent neural network designed for event-based near-eye gaze tracking. Leveraging the high temporal resolution, energy efficiency, and compatibility of Dynamic Vision Sensor…
Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…
Event-based cameras are attracting significant interest as they provide rich edge information, high dynamic range, and high temporal resolution. Many state-of-the-art event-based algorithms rely on splitting the events into fixed groups,…
Graph Neural Networks are perfectly suited to capture latent interactions between various entities in the spatio-temporal domain (e.g. videos). However, when an explicit structure is not available, it is not obvious what atomic elements…
Tactile sensing for robotics is achieved through a variety of mechanisms, including magnetic, optical-tactile, and conductive fluid. Currently, the fluid-based sensors have struck the right balance of anthropomorphic sizes and shapes and…
Online continuous action recognition has emerged as a critical research area due to its practical implications in real-world applications, such as human-computer interaction, healthcare, and robotics. Among various modalities,…
This paper presents a novel hardware system for high-speed, event-sparse sampling-based electronic skin (e-skin)that integrates sensing and neuromorphic computing. The system is built around a 16x16 piezoresistive tactile array with front…
Vision-based autonomous navigation systems rely on fast and accurate object detection algorithms to avoid obstacles. Algorithms and sensors designed for such systems need to be computationally efficient, due to the limited energy of the…
The ability to perceive object slip via tactile feedback enables humans to accomplish complex manipulation tasks including maintaining a stable grasp. Despite the utility of tactile information for many applications, tactile sensors have…