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Humans leverage multiple sensor modalities when interacting with objects and discovering their intrinsic properties. Using the visual modality alone is insufficient for deriving intuition behind object properties (e.g., which of two boxes…
Despite the abundance of multi-modal data, such as image-text pairs, there has been little effort in understanding the individual entities and their different roles in the construction of these data instances. In this work, we endeavour to…
Automatic image-based food recognition is a particularly challenging task. Traditional image analysis approaches have achieved low classification accuracy in the past, whereas deep learning approaches enabled the identification of food…
Food retrieval is an important task to perform analysis of food-related information, where we are interested in retrieving relevant information about the queried food item such as ingredients, cooking instructions, etc. In this paper, we…
Food is central to life. Food provides us with energy and foundational building blocks for our body and is also a major source of joy and new experiences. A significant part of the overall economy is related to food. Food science,…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
A robotic feeding system must be able to acquire a variety of foods. Prior bite acquisition works consider single-arm spoon scooping or fork skewering, which do not generalize to foods with complex geometries and deformabilities. For…
Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…
Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…
Locating and grasping of objects by robots is typically performed using visual sensors. Haptic feedback from contacts with the environment is only secondary if present at all. In this work, we explored an extreme case of searching for and…
Manipulation of deformable objects is a challenging task for a robot. It will be problematic to use a single sensory input to track the behaviour of such objects: vision can be subjected to occlusions, whereas tactile inputs cannot capture…
Food image analysis is the groundwork for image-based dietary assessment, which is the process of monitoring what kinds of food and how much energy is consumed using captured food or eating scene images. Existing deep learning-based methods…
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…
Several robot manipulation tasks are extremely sensitive to variations of the physical properties of the manipulated objects. One such task is manipulating objects by using gravity or arm accelerations, increasing the importance of mass,…
In this study, we introduce a novel visual imitation network with a spatial attention module for robotic assisted feeding (RAF). The goal is to acquire (i.e., scoop) food items from a bowl. However, achieving robust and adaptive food…
In order to interact with objects in our environment, humans rely on an understanding of the actions that can be performed on them, as well as their properties. When considering concrete motor actions, this knowledge has been called the…
To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tactile perception. In this study, we use a dedicated modular…
Reusing the tactile knowledge of some previously-explored objects helps us humans to easily recognize the tactual properties of new objects. In this master thesis, we enable arobotic arm equipped with multi-modal artificial skin, like…
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp…