Related papers: Touch if it's transparent! ACTOR: Active Tactile-b…
Tactile exploration plays a crucial role in understanding object structures for fundamental robotics tasks such as grasping and manipulation. However, efficiently exploring such objects using tactile sensors is challenging, primarily due to…
The perception of an object's surface is important for robotic applications enabling robust object manipulation. The level of accuracy in such a representation affects the outcome of the action planning, especially during tasks that require…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
Inspired by humans' ability to perceive the surface texture of unfamiliar objects without relying on vision, the sense of touch can play a crucial role in robots exploring the environment, particularly in scenes where vision is difficult to…
Object surface reconstruction brings essential benefits to robot grasping, object recognition, and object manipulation. When measuring the surface distribution of an unknown object by tapping, the greatest challenge is to select tapping…
Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…
Tactile sensing is one of the modalities humans rely on heavily to perceive the world. Working with vision, this modality refines local geometry structure, measures deformation at the contact area, and indicates the hand-object contact…
We introduce an active 3D reconstruction method which integrates visual perception, robot-object interaction, and 3D scanning to recover both the exterior and interior, i.e., unexposed, geometries of a target 3D object. Unlike other works…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
Robots require full-body, high-resolution tactile sensing to operate safely in unstructured environments, enabling reflexive responses and closed-loop control. However, the pixel counts needed for dense, large-area coverage limit readout…
Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…
This paper explores active sensing strategies that employ vision-based tactile sensors for robotic perception and classification of fabric textures. We formalize the active sampling problem in the context of tactile fabric recognition and…
Transparent objects present multiple distinct challenges to visual perception systems. First, their lack of distinguishing visual features makes transparent objects harder to detect and localize than opaque objects. Even humans find certain…
Picking up transparent objects is still a challenging task for robots. The visual properties of transparent objects such as reflection and refraction make the current grasping methods that rely on camera sensing fail to detect and localise…
The development of vision-based tactile sensors has significantly enhanced robots' perception and manipulation capabilities, especially for tasks requiring contact-rich interactions with objects. In this work, we present DTactive, a novel…
Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…
People often use physical intuition when manipulating articulated objects, irrespective of object semantics. Motivated by this observation, we identify an important embodied task where an agent must play with objects to recover their parts.…
Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…
This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…