Related papers: Attention for Robot Touch: Tactile Saliency Predic…

Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…

Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate…

The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…

Tactile perception is important for robotic systems that interact with the world through touch. Touch is an active sense in which tactile measurements depend on the contact properties of an interaction--e.g., velocity, force,…

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…

Recently, the philosophy of visual saliency and attention has started to gain popularity in the robotics community. Therefore, this paper aims to mimic this mechanism in SLAM framework by using saliency prediction model. Comparing with…

This paper investigates the role of saliency to improve the classification accuracy of a Convolutional Neural Network (CNN) for the case when scarce training data is available. Our approach consists in adding a saliency branch to an…

Touch sensing is widely acknowledged to be important for dexterous robotic manipulation, but exploiting tactile sensing for continuous, non-prehensile manipulation is challenging. General purpose control techniques that are able to…

Image retargeting is the task of making images capable of being displayed on screens with different sizes. This work should be done so that high-level visual information and low-level features such as texture remain as intact as possible to…

Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…

The ability to rapidly focus attention and react to salient environmental features enables animals to move agiley through their habitats. To replicate this kind of high-performance control of movement in synthetic systems, we propose a new…

Saliency Prediction aims to predict the attention distribution of human eyes given an RGB image. Most of the recent state-of-the-art methods are based on deep image feature representations from traditional CNNs. However, the traditional…

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…

The real human attention is an interactive activity between our visual system and our brain, using both low-level visual stimulus and high-level semantic information. Previous image salient object detection (SOD) works conduct their…

In general, robotic dexterous hands are equipped with various sensors for acquiring multimodal contact information such as position, force, and pose of the grasped object. This multi-sensor-based design adds complexity to the robotic…

The last decades have seen great progress in saliency prediction, with the success of deep neural networks that are able to encode high-level semantics. Yet, while humans have the innate capability in leveraging their knowledge to decide…

Understanding specifically where a model focuses on within an image is critical for human interpretability of the decision-making process. Deep learning-based solutions are prone to learning coincidental correlations in training datasets,…

Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these situations, touch sensing is crucial for the robot to…

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 new approach to seismic interpretation is proposed to leverage visual perception and human visual system modeling. Specifically, a saliency detection algorithm based on a novel attention model is proposed for identifying subsurface…