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Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To accurately reconstruct object contours, it is crucial for the…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…
Aquatic mammals, such as pinnipeds, utilize their whiskers to detect and discriminate objects and analyze water movements, inspiring the development of robotic whiskers for sensing contacts, surfaces, and water flows. We present the design…
Texture-based studies and designs have been in focus recently. Whisker-based multidimensional surface texture data is missing in the literature. This data is critical for robotics and machine perception algorithms in the classification and…
In this paper, the programmable signal propagation paradigm, enabled by Reconfigurable Intelligent Surfaces (RISs), is exploited for high accuracy $3$-Dimensional (3D) user localization with a single multi-antenna base station. Capitalizing…
We present an end-to-end system for reconstructing complete watertight and textured models of moving subjects such as clothed humans and animals, using only three or four handheld sensors. The heart of our framework is a new pairwise…
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…
Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…
Robotic exploration under uncertain environments is challenging when optical information is not available. In this paper, we propose an autonomous solution of exploring an unknown task space based on tactile sensing alone. We first designed…
Creating 3D maps on robots and other mobile devices has become a reality in recent years. Online 3D reconstruction enables many exciting applications in robotics and AR/VR gaming. However, the reconstructions are noisy and generally…
Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…
Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong…
Language-guided active sensing is a robotics subtask where a robot with an onboard sensor interacts efficiently with the environment via object manipulation to maximize perceptual information, following given language instructions. These…
Environmental scene reconstruction is of great interest for autonomous robotic applications, since an accurate representation of the environment is necessary to ensure safe interaction with robots. Equally important, it is also vital to…
We present a novel approach to interactive 3D object perception for robots. Unlike previous perception algorithms that rely on known object models or a large amount of annotated training data, we propose a poking-based approach that…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Recent years have seen the development of mature solutions for reconstructing deformable surfaces from a single image, provided that they are relatively well-textured. By contrast, recovering the 3D shape of texture-less surfaces remains an…
Localizing and tracking the pose of robotic grippers are necessary skills for manipulation tasks. However, the manipulators with imprecise kinematic models (e.g. low-cost arms) or manipulators with unknown world coordinates (e.g. poor…
Currently, manipulation tasks for deformable objects often focus on activities like folding clothes, handling ropes, and manipulating bags. However, research on contact-rich tasks involving deformable objects remains relatively…