Related papers: Feeling the Grass Grow: Making Midair Haptic Param…

Objects produce different sounds when hit, and humans can intuitively infer how an object might sound based on its appearance and material properties. Inspired by this intuition, we propose Visual Acoustic Fields, a framework that bridges…

In our daily life, we often encounter objects that are fragile and can be damaged by excessive grasping force, such as fruits. For these objects, it is paramount to grasp gently -- not using the maximum amount of force possible, but rather…

Gaussian splatting has emerged as a powerful tool for high-fidelity reconstruction of dynamic scenes. However, existing methods primarily rely on implicit motion representations, such as encoding motions into neural networks or per-Gaussian…

Digital communication tools are limited to visual and auditory information and lack non-verbal information such as touch, which is important for communicating intentions and emotions. In order to solve this problem, the use of haptic…

Accurate prediction of perceptual attributes of haptic textures is essential for advancing VR and AR applications and enhancing robotic interaction with physical surfaces. This paper presents a deep learning-based multi-modal framework,…

Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the…

This paper introduces human-robot sensory augmentation and illustrates it on a tracking task, where performance can be improved by the exchange of sensory information between the robot and its human user. It was recently found that during…

Neural implicit representations, including Neural Distance Fields and Neural Radiance Fields, have demonstrated significant capabilities for reconstructing surfaces with complicated geometry and topology, and generating novel views of a…

Robotic grasping faces challenges in adapting to objects with varying shapes and sizes. In this paper, we introduce MISCGrasp, a volumetric grasping method that integrates multi-scale feature extraction with contrastive feature enhancement…

Using optical tweezers and a haptic device, microspheres having diameters ranging from 3 to 4 um (floating in a fluid solution) are manipulated in order to form patterns of coupled optical microresonators by assembling the spheres via…

Recent advances in neural rendering have improved both training and rendering times by orders of magnitude. While these methods demonstrate state-of-the-art quality and speed, they are designed for photogrammetry of static scenes and do not…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

When a toddler is presented a new toy, their instinctual behaviour is to pick it upand inspect it with their hand and eyes in tandem, clearly searching over its surface to properly understand what they are playing with. At any instance…

Navigating peripersonal space requires reaching targets in both horizontal (e.g., desks) and vertical (e.g., shelves) layouts with high precision. We developed a haptic glove to aid peri-personal target navigation and investigated the…

Tactile sensing for robotics is achieved through a variety of mechanisms, including magnetic, optical-tactile, and conductive fluid. Currently, the fluid-based sensors have struck the right balance of anthropomorphic sizes and shapes and…

Grasp User Interfaces (grasp UIs) enable dual-tasking in XR by allowing interaction with digital content while holding physical objects. However, current grasp UI design practices face a fundamental challenge: existing approaches either…

Rendering realistic human-object interactions (HOIs) from sparse-view inputs is a challenging yet crucial task for various real-world applications. Existing methods often struggle to simultaneously achieve high rendering quality, physical…

High-fidelity haptic feedback is essential for immersive virtual environments, yet authoring realistic tactile textures remains a significant bottleneck for designers. We introduce HapticMatch, a visual-to-tactile generation framework…

Physical contact between hands and objects plays a critical role in human grasps. We show that optimizing the pose of a hand to achieve expected contact with an object can improve hand poses inferred via image-based methods. Given a hand…

Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…