Related papers: Vis2Hap: Vision-based Haptic Rendering by Cross-mo…
Emotion recognition and touch gesture decoding are crucial for advancing human-robot interaction (HRI), especially in social environments where emotional cues and tactile perception play important roles. However, many humanoid robots, such…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
We propose a novel neural rendering pipeline, Hybrid Volumetric-Textural Rendering (HVTR), which synthesizes virtual human avatars from arbitrary poses efficiently and at high quality. First, we learn to encode articulated human motions on…
Handheld kinesthetic haptic interfaces can provide greater mobility and richer tactile information as compared to traditional grounded devices. In this paper, we introduce a new handheld haptic interface which takes input using…
Novel-View Human Action Synthesis aims to synthesize the movement of a body from a virtual viewpoint, given a video from a real viewpoint. We present a novel 3D reasoning to synthesize the target viewpoint. We first estimate the 3D mesh of…
Tactile sensation is essential for contact-rich manipulation tasks. It provides direct feedback on object geometry, surface properties, and interaction forces, enhancing perception and enabling fine-grained control. An inherent limitation…
We present a technique for providing remote tactile feedback to the thumb and index finger via a wristband device. This enables haptics for touch and pinch interactions in mixed reality (MR) while keeping the hand entirely free. We achieve…
Combining 3D vision with tactile sensing could unlock a greater level of dexterity for robots and improve several manipulation tasks. However, obtaining a close-up 3D view of the location where manipulation contacts occur can be…
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.…
Teleoperation of robotic systems for precise and delicate object grasping requires high-fidelity haptic feedback to obtain comprehensive real-time information about the grasp. In such cases, the most common approach is to use kinesthetic…
We present VLH, a novel Visual-Language-Haptic Foundation Model that unifies perception, language, and tactile feedback in aerial robotics and virtual reality. Unlike prior work that treats haptics as a secondary, reactive channel, VLH…
TouchVR is a novel wearable haptic interface which can deliver multimodal tactile stimuli on the palm by DeltaTouch haptic display and vibrotactile feedback on the fingertips by vibration motors for the Virtual Reality (VR) user. DeltaTouch…
Visuo-tactile sensors aim to emulate human tactile perception, enabling robots to precisely understand and manipulate objects. Over time, numerous meticulously designed visuo-tactile sensors have been integrated into robotic systems, aiding…
Remote palpation enables noninvasive tissue examination in telemedicine, yet current tactile displays often lack the fidelity to convey both large-scale forces and fine spatial details. This study introduces a hybrid fingertip display…
We present HARP (HAnd Reconstruction and Personalization), a personalized hand avatar creation approach that takes a short monocular RGB video of a human hand as input and reconstructs a faithful hand avatar exhibiting a high-fidelity…
Rendering realistic human-object interactions (HOIs) from sparse-view inputs is a challenging yet crucial task for various real-world applications. Existing methods often struggle to simultaneously achieve high rendering quality, physical…
This paper presents a novel manipulation strategy that uses keypoint correspondences extracted from visuo-tactile sensor images to facilitate precise object manipulation. Our approach uses the visuo-tactile feedback to guide the robot's…
Generating high-quality textures for 3D assets is a challenging task. Existing multiview texture generation methods suffer from the multiview inconsistency and missing textures on unseen parts, while UV inpainting texture methods do not…
Visual servoing, the method of controlling robot motion through feedback from visual sensors, has seen significant advancements with the integration of optical flow-based methods. However, its application remains limited by inherent…
We address the problem of tactile localization, where the goal is to identify image regions that share the same material properties as a tactile input. Existing visuo-tactile methods rely on global alignment and thus fail to capture the…