Related papers: Soft Contact Simulation and Manipulation Learning …
In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…
For the shape control of deformable free-form surfaces, simulation plays a crucial role in establishing the mapping between the actuation parameters and the deformed shapes. The differentiation of this forward kinematic mapping is usually…
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.…
Thanks to recent advancements in the development of inexpensive, high-resolution tactile sensors, touch sensing has become popular in contact-rich robotic manipulation tasks. With the surge of data-driven methods and their requirement for…
Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…
User interfaces provide an interactive window between physical and virtual environments. A new concept in the field of human-computer interaction is a soft user interface; a compliant surface that facilitates touch interaction through…
While visuomotor policy learning has advanced robotic manipulation, precisely executing contact-rich tasks remains challenging due to the limitations of vision in reasoning about physical interactions. To address this, recent work has…
Sim-to-real transfer remains a fundamental challenge in robot manipulation due to the entanglement of perception and control in end-to-end learning. We present a decoupled framework that learns each component where it is most reliable:…
Differentiable simulators promise to improve sample efficiency in robot learning by providing analytic gradients of the system dynamics. Yet, their application to contact-rich tasks like locomotion is complicated by the inherently…
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…
Continuous in-hand manipulation is an important physical interaction skill, where tactile sensing provides indispensable contact information to enable dexterous manipulation of small objects. This work proposed a framework for end-to-end…
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
Executing contact-rich manipulation tasks necessitates the fusion of tactile and visual feedback. However, the distinct nature of these modalities poses significant challenges. In this paper, we introduce a system that leverages visual and…
Simulation is a widely used tool in robotics to reduce hardware consumption and gather large-scale data. Despite previous efforts to simulate optical tactile sensors, there remain challenges in efficiently synthesizing images and…
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…
Tactile sensing is crucial in robotics and wearable devices for safe perception and interaction with the environment. Optical tactile sensors have emerged as promising solutions, as they are immune to electromagnetic interference and have…
Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…