Related papers: Event-Driven Visual-Tactile Sensing and Learning f…

We propose a deep visuo-tactile model for realtime estimation of the liquid inside a deformable container in a proprioceptive way.We fuse two sensory modalities, i.e., the raw visual inputs from the RGB camera and the tactile cues from our…

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,…

Perception is essential for the active interaction of physical agents with the external environment. The integration of multiple sensory modalities, such as touch and vision, enhances this perceptual process, creating a more comprehensive…

Achieving optimal semantic segmentation with frame-based vision sensors poses significant challenges for real-time systems like UAVs and self-driving cars, which require rapid and precise processing. Traditional frame-based methods often…

Event-based sensors have recently drawn increasing interest in robotic perception due to their lower latency, higher dynamic range, and lower bandwidth requirements compared to standard CMOS-based imagers. These properties make them ideal…

Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors are promising for providing multimodal capabilities and high robustness, yet existing…

Autonomously exploring the unknown physical properties of novel objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…

Event cameras are an interesting visual exteroceptive sensor that reacts to brightness changes rather than integrating absolute image intensities. Owing to this design, the sensor exhibits strong performance in situations of challenging…

In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…

In this paper, a novel tactile sensing mechanism for soft robotic fingers is proposed. Inspired by the proprioception mechanism found in mammals, the proposed approach infers tactile information from a strain sensor attached on the finger's…

With the development of robot electronic skin technology, various tactile sensors, enhanced by AI, are unlocking a new dimension of perception for robots. In this work, we explore how robots equipped with electronic skin can recognize…

Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…

Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…

Learning representations in the joint domain of vision and touch can improve manipulation dexterity, robustness, and sample-complexity by exploiting mutual information and complementary cues. Here, we present Visuo-Tactile Transformers…

Robotic pushing is a fundamental manipulation task that requires tactile feedback to capture subtle contact forces and dynamics between the end-effector and the object. However, real tactile sensors often face hardware limitations such as…

Selection of appropriate tools and use of them when performing daily tasks is a critical function for introducing robots for domestic applications. In previous studies, however, adaptability to target objects was limited, making it…

This paper introduces a neuromorphic methodology for eye tracking, harnessing pure event data captured by a Dynamic Vision Sensor (DVS) camera. The framework integrates a directly trained Spiking Neuron Network (SNN) regression model and…

Tracking and acquiring simultaneous optical images of randomly moving targets obscured by scattering media remains a challenging problem of importance to many applications that require precise object localization and identification. In this…

Tactility provides crucial support and enhancement for the perception and interaction capabilities of both humans and robots. Nevertheless, the multimodal research related to touch primarily focuses on visual and tactile modalities, with…

Designing robotic tasks for co-manipulation necessitates to exploit not only proprioceptive but also exteroceptive information for improved safety and autonomy. Following such instinct, this research proposes to formulate intuitive robotic…