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Non-Hermitian skin effects (NHSEs) have recently been extensively studied at the single-particle level. When many-body interactions become dominant, novel non-Hermitian phenomena can emerge. In this work, we propose an experimentally…
Predicting the outcomes of robotic actions, often referred to as learning a world model, in complex environments remains a fundamental challenge in robotics. Existing approaches primarily rely on visual observations and action inputs to…
Most tactile actuators create tactile sensations through vibrations or the mechanical and electrochemical formation of bumps. However, tactile sensations of real objects arise from friction which is derived not only from physical…
Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…
In this paper, our aim is to highlight Tactile Perceptual Aliasing as a problem when using deep neural networks and other discriminative models. Perceptual aliasing will arise wherever a physical variable extracted from tactile data is…
Beyond a simple notification of incoming calls or messages, more complex information such as alphabets and digits can be delivered through spatiotemporal tactile patterns (STPs) on a wrist-worn tactile display (WTD) with multiple tactors.…
The reward model (RM), as the core component of reinforcement learning from human feedback (RLHF) for large language models (LLMs), responsible for providing reward signals to generated responses. However, the mainstream discriminative…
One of the fundamental requirements for an artificial hand to successfully grasp and manipulate an object is to be able to distinguish different objects' shapes and, more specifically, the objects' surface curvatures. In this study, we…
Measurement of pressure distribution applied to a fingertip is crucial for the teleoperation of robots and human computer interface. Previous studies have acquired pressure distribution by affixing a sensor array to the fingertip or by…
Friction modulation allows for a range of different sensations and textures to be simulated on flat touchscreens, yet is largely unable to render fundamental tactile interactions such as path following or shape discrimination due to lack of…
Identifying and discovering drug-target interactions(DTIs) are vital steps in drug discovery and development. They play a crucial role in assisting scientists in finding new drugs and accelerating the drug development process. Recently,…
A large number of eukaryotic cells are able to directly detect external chemical gradients with great accuracy and the ultimate limit to their sensitivity has been a topic of debate for many years. Previous work has been done to understand…
We routinely communicate distinct social and emotional sentiments through nuanced touch. For example, we might gently hold another's arm to offer a sense of calm, yet intensively hold another's arm to express excitement or anxiety. As this…
The ability of the organism to distinguish between various stimuli is limited by the structure and noise in the population code of its sensory neurons. Here we infer a distance measure on the stimulus space directly from the recorded…
Temperature is one of the most relevant parameters for the regulation of intracellular processes. Measuring localized subcellular temperature gradients is fundamental for a deeper understanding of cell function, such as the genesis of…
This paper introduces the three-branch Dual Attention-Guided Compact Bilinear CNN (DACB-Net) by focusing on learning from disease-specific regions to enhance accuracy and alignment. A global branch compensates for lost discriminative…
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…
This paper proposes Tac2Motion, a contact-aware reinforcement learning framework to facilitate the learning of contact-rich in-hand manipulation tasks, such as removing a lid. To this end, we propose tactile sensing-based reward shaping and…
This exploratory pilot study investigates the impact of haptic perception --specifically tactile sensitivity (touch) and kinaesthetic intensity (movement)-- on learning, operationalized as information retention (immediate recall) through…
Humans perceive the world using multi-modal sensory inputs such as vision, audition, and touch. In this work, we investigate the cross-modal connection between vision and touch. The main challenge in this cross-domain modeling task lies in…