Related papers: Event-Driven Visual-Tactile Sensing and Learning f…
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…
This paper describes a system for transmitting softness and the motion of shape or contact area sensation using a vision based tactile sensor and a tactile display in which mechanical and electrical stimulation are combined. A unit of…
Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional tactile…
Legged locomotion benefits from embodied sensing, where perception emerges from the physical interaction between body and environment. We present a soft-surfaced, vision-based tactile foot sensor that endows a bipedal robot with a skin-like…
Robots need to exploit high-quality information on grasped objects to interact with the physical environment. Haptic data can therefore be used for supplementing the visual modality. This paper investigates the use of Convolutional Neural…
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…
Humans perceive the world using multi-modal sensory inputs such as vision, audition, and touch. In this work, we investigate the cross-modal connection between vision and touch. The main challenge in this cross-domain modeling task lies in…
Moving object detection has been a central topic of discussion in computer vision for its wide range of applications like in self-driving cars, video surveillance, security, and enforcement. Neuromorphic Vision Sensors (NVS) are…
We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move 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…
Humans usually perceive the world in a multimodal way that vision, touch, sound are utilised to understand surroundings from various dimensions. These senses are combined together to achieve a synergistic effect where the learning is more…
The research aims to expand tactile feedback beyond vibrations to various modes of stimuli, such as indentation, vibration, among others. By incorporating soft material into the design of a novel tactile actuator, we can achieve…
Employing skin-like tactile sensors on robots enhances both the safety and usability of collaborative robots by adding the capability to detect human contact. Unfortunately, simple binary tactile sensors alone cannot determine the context…
Spiking neural networks (SNNs) are the third generation of neural networks that are biologically inspired to process data in a fashion that emulates the exchange of signals in the brain. Within the Computer Vision community SNNs have…
How to effectively and efficiently deal with spatio-temporal event streams, where the events are generally sparse and non-uniform and have the microsecond temporal resolution, is of great value and has various real-life applications.…
Recent advances in the field of intelligent robotic manipulation pursue providing robotic hands with touch sensitivity. Haptic perception encompasses the sensing modalities encountered in the sense of touch (e.g., tactile and kinesthetic…
With the development of VR technology, especially the emergence of the metaverse concept, the integration of visual and tactile perception has become an expected experience in human-machine interaction. Therefore, achieving spatial-temporal…
Contact-rich manipulation tasks, such as wiping and assembly, require accurate perception of contact forces, friction changes, and state transitions that cannot be reliably inferred from vision alone. Despite growing interest in…
The rapidly evolving field of robotics necessitates methods that can facilitate the fusion of multiple modalities. Specifically, when it comes to interacting with tangible objects, effectively combining visual and tactile sensory data is…
Robot skill acquisition processes driven by reinforcement learning often rely on simulations to efficiently generate large-scale interaction data. However, the absence of simulation models for tactile sensors has hindered the use of tactile…