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Precision assembly requires sub-millimeter corrections in contact-rich "last-millimeter" regions where visual feedback fails due to occlusion from the end-effector and workpiece. We present ReTac-ACT (Reconstruction-enhanced Tactile ACT), a…
With the increasing demand for human-computer interaction (HCI), flexible wearable gloves have emerged as a promising solution in virtual reality, medical rehabilitation, and industrial automation. However, the current technology still has…
This paper presents RoGSplat, a novel approach for synthesizing high-fidelity novel views of unseen human from sparse multi-view images, while requiring no cumbersome per-subject optimization. Unlike previous methods that typically struggle…
Recovering textured 3D models of non-rigid human body shapes is challenging due to self-occlusions caused by complex body poses and shapes, clothing obstructions, lack of surface texture, background clutter, sparse set of cameras with…
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…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
The deep learning model Transformer has achieved remarkable success in the hyperspectral image (HSI) restoration tasks by leveraging Spectral and Spatial Self-Attention (SA) mechanisms. However, applying these designs to remote sensing (RS)…
Humans effortlessly integrate common-sense knowledge with sensory input from vision and touch to understand their surroundings. Emulating this capability, we introduce FusionSense, a novel 3D reconstruction framework that enables robots to…
Gaussian Splatting has achieved remarkable progress in multi-view surface reconstruction, yet it exhibits notable degradation when only few views are available. Although recent efforts alleviate this issue by enhancing multi-view…
High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…
Accurate geometric surface reconstruction, providing essential environmental information for navigation and manipulation tasks, is critical for enabling robotic self-exploration and interaction. Recently, 3D Gaussian Splatting (3DGS) has…
We present the optical and cryo-mechanical solutions for the Spectrograph of VSI (VLTI Spectro-Imager), the second generation near-infrared (J, H and K bands) interferometric instrument for the VLTI. The peculiarity of this spectrograph is…
High-quality and controllable digital twins of surgical instruments are critical for Real2Sim in robot-assisted surgery, as they enable realistic simulation, synthetic data generation, and perception learning under novel poses. We present…
Tactile sensing plays an irreplaceable role in robotic material recognition. It enables robots to distinguish material properties such as their local geometry and textures, especially for materials like textiles. However, most tactile…
Three-dimensional (3-D) skin surface reconstruction offers promise for objective and quantitative dermatological assessment, but no portable, high-resolution device exists that has been validated and used for depth reconstruction across…
Reconstructing objects from posed images is a crucial and complex task in computer graphics and computer vision. While NeRF-based neural reconstruction methods have exhibited impressive reconstruction ability, they tend to be…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…
Real2Sim is becoming increasingly important with the rapid development of surgical artificial intelligence (AI) and autonomy. In this work, we propose a novel Real2Sim methodology, Instrument-Splatting, that leverages 3D Gaussian Splatting…
Capturing the 3D geometry of transparent objects is a challenging task, ill-suited for general-purpose scanning and reconstruction techniques, since these cannot handle specular light transport phenomena. Existing state-of-the-art methods,…
Remote sensing datasets offer significant promise for tackling key classification tasks such as land-use categorization, object presence detection, and rural/urban classification. However, many existing studies tend to focus on narrow tasks…