Related papers: AcTExplore: Active Tactile Exploration of Unknown …
To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…
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…
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…
Tactile data and kinesthetic cues are two important sensing sources in robot object recognition and are complementary to each other. In this paper, we propose a novel algorithm named Iterative Closest Labeled Point (iCLAP) to recognize…
Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…
Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…
Crack detection is of great significance for monitoring the integrity and well-being of the infrastructure such as bridges and underground pipelines, which are harsh environments for people to access. In recent years, computer vision…
Accurate object geometry estimation is essential for many downstream tasks, including robotic manipulation and physical interaction. Although vision is the dominant modality for shape perception, it becomes unreliable under occlusions or…
Robots struggle to understand object properties like shape, material, and semantics due to limited prior knowledge, hindering manipulation in unstructured environments. In contrast, humans learn these properties through interactive…
Real-world contact-rich manipulation demands robots to perceive temporal tactile feedback, capture subtle surface deformations, and reason about object properties as well as force dynamics. Although optical tactile sensors are uniquely…
Active visual exploration aims to assist an agent with a limited field of view to understand its environment based on partial observations made by choosing the best viewing directions in the scene. Recent methods have tried to address this…
We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…
In this work, we introduce the problem of cross-modal visuo-tactile object recognition with robotic active exploration. With this term, we mean that the robot observes a set of objects with visual perception and, later on, it is able to…
Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task.…
Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…
We address the problem of tracking 3D object poses from touch during in-hand manipulations. Specifically, we look at tracking small objects using vision-based tactile sensors that provide high-dimensional tactile image measurements at the…
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.…
3D Reconstruction of moving articulated objects without additional information about object structure is a challenging problem. Current methods overcome such challenges by employing category-specific skeletal models. Consequently, they do…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
One of the most important object properties that humans and robots perceive through touch is hardness. This paper investigates information-theoretic active sampling strategies for sample-efficient hardness classification with vision-based…