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Robotics research has long sought to give robots the ability to perceive the physical world through touch in an analogous manner to many biological systems. Developing such tactile capabilities is important for numerous emerging…
Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…
Zero-shot point cloud segmentation aims to make deep models capable of recognizing novel objects in point cloud that are unseen in the training phase. Recent trends favor the pipeline which transfers knowledge from seen classes with labels…
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…
Optical see-through augmented reality (OST-AR) overlays digital targets and annotations on the physical world, offering promising guidance for hands-on tasks such as medical needle insertion or assembly. Recent work on OST-AR depth…
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…
Transparent object perception is a crucial skill for applications such as robot manipulation in household and laboratory settings. Existing methods utilize RGB-D or stereo inputs to handle a subset of perception tasks including depth and…
While tactile sensing is widely accepted as an important and useful sensing modality, its use pales in comparison to other sensory modalities like vision and proprioception. AnySkin addresses the critical challenges that impede the use of…
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…
The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at…
Brain-computer interface allows people who have lost their motor skills to control robot limbs based on electroencephalography. Most BCIs are guided only by visual feedback and do not have somatosensory feedback, which is an important…
Object detection in remote sensing is a crucial computer vision task that has seen significant advancements with deep learning techniques. However, most existing works in this area focus on the use of generic object detection and do not…
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…
We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO…
Training machine learning models for robotic tactile sensing requires vast amounts of data, yet obtaining realistic interaction data remains a challenge due to physical complexity and variability. Simulating tactile sensors is thus a…
For both humans and robots, the sense of touch, known as tactile sensing, is critical for performing contact-rich manipulation tasks. Three key challenges in robotic tactile sensing are 1) interpreting sensor signals, 2) generating sensor…
Tactile perception is crucial for a variety of robot tasks including grasping and in-hand manipulation. New advances in flexible, event-driven, electronic skins may soon endow robots with touch perception capabilities similar to humans.…
Visuotactile sensors typically employ sparse marker arrays that limit spatial resolution and lack clear analytical force-to-image relationships. To solve this problem, we present \textbf{Moir\'eTac}, a dual-mode sensor that generates dense…
Even simple tactile stimuli can lead to remarkably different perceptions among individuals, both in intensity and pleasantness. To understand the physical factors behind this variation, it is important to investigate how mechanical events…
Accurate prediction of perceptual attributes of haptic textures is essential for advancing VR and AR applications and enhancing robotic interaction with physical surfaces. This paper presents a deep learning-based multi-modal framework,…