Related papers: Simulation of Vision-based Tactile Sensors using P…

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 sensing is critical for robotic grasping and manipulation of objects under visual occlusion. However, in contrast to simulations of robot arms and cameras, current simulations of tactile sensors have limited accuracy, speed, and…

Tactile sensing is a necessary capability for a robotic hand to perform fine manipulations and interact with the environment. Optical sensors are a promising solution for high-resolution contact estimation. Nevertheless, they are usually…

Camera-based tactile sensors are emerging as a promising inexpensive solution for tactile-enhanced manipulation tasks. A recently introduced FingerVision sensor was shown capable of generating reliable signals for force estimation, object…

Deep generative models have various content creation applications such as graphic design, e-commerce, and virtual Try-on. However, current works mainly focus on synthesizing realistic visual outputs, often ignoring other sensory modalities,…

This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…

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.…

Tactile sensing has proven to be an invaluable tool for enhancing robotic perception, particularly in scenarios where visual data is limited or unavailable. However, traditional methods for pose estimation using tactile data often rely on…

Tactile sensing presents a promising opportunity for enhancing the interaction capabilities of today's robots. BioTac is a commonly used tactile sensor that enables robots to perceive and respond to physical tactile stimuli. However, the…

Thanks to recent advancements in the development of inexpensive, high-resolution tactile sensors, touch sensing has become popular in contact-rich robotic manipulation tasks. With the surge of data-driven methods and their requirement for…

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…

The GelSight-like visual tactile (VT) sensor has gained popularity as a high-resolution tactile sensing technology for robots, capable of measuring touch geometry using a single RGB camera. However, the development of multi-modal perception…

Sensing contacts throughout the fingers is an essential capability for a robot to perform manipulation tasks in cluttered environments. However, existing tactile sensors either only have a flat sensing surface or a compliant tip with a…

Tactile sensing plays an important role in robotic perception and manipulation tasks. To overcome the real-world limitations of data collection, simulating tactile response in a virtual environment comes as a desirable direction of robotic…

The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…

Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…

Vision-based tactile sensors have drawn increasing interest in the robotics community. However, traditional lens-based designs impose minimum thickness constraints on these sensors, limiting their applicability in space-restricted settings.…

We present GelSphere, a spherical vision-based tactile sensor designed for real-time continuous surface scanning. Unlike traditional vision-based tactile sensors that can only sense locally and are damaged when slid across surfaces, and…

Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in precision and immunity to occlusion when tracking and…

Training robot policies in simulation is becoming increasingly popular; nevertheless, a precise, reliable, and easy-to-use tactile simulator for contact-rich manipulation tasks is still missing. To close this gap, we develop TacEx -- a…