Related papers: TactileAR: Active Tactile Pattern Reconstruction
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…
The sense of touch is fundamental to human dexterity. When mimicked in robotic touch, particularly by use of soft optical tactile sensors, it suffers from distortion due to motion-dependent shear. This complicates tactile tasks like shape…
Passive synthetic aperture radar (SAR) uses existing signals of opportunity such as communication and broadcasting signals. In our prior work, we have developed a low-rank matrix recovery (LRMR) method that can reconstruct scenes with…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
Whiskers provide a way to sense surfaces in the immediate environment without disturbing it. In this paper we present a method for using highly flexible, curved, passive whiskers mounted along a robot arm to gather sensory data as they…
To achieve fully autonomous navigation, vehicles need to compute an accurate model of their direct surrounding. In this paper, a 3D surface reconstruction algorithm from heterogeneous density 3D data is presented. The proposed method is…
High-resolution tactile sensing can provide accurate information about local contact in contact-rich robotic tasks. However, the deployment of such tasks in unstructured environments remains under-investigated. To improve the robustness of…
The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface. However, extracting the information encoded in…
This paper presents a novel framework for integration of vision and tactile sensing by localizing tactile readings in a visual object map. Intuitively, there are some correspondences, e.g., prominent features, between visual and tactile…
Human-robot teaming (HRT) systems often rely on large-scale datasets of human and robot interactions, especially for close-proximity collaboration tasks such as human-robot handovers. Learning robot manipulation policies from raw,…
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…
4D reconstruction of human-object interaction is critical for immersive VR/AR experience and human activity understanding. Recent advances still fail to recover fine geometry and texture results from sparse RGB inputs, especially under…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…
Simulating tactile perception could potentially leverage the learning capabilities of robotic systems in manipulation tasks. However, the reality gap of simulators for high-resolution tactile sensors remains large. Models trained on…
Real-time, high-fidelity 3D human reconstruction from RGB images is essential for interactive applications such as virtual reality and gaming, yet remains challenging due to the complex non-rigid deformations of dynamic human bodies.…
Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…
Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality,…
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…
Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…
Robots operating in the real world must plan through environments that deform, yield, and reconfigure under contact, requiring interaction-aware 3D representations that extend beyond static geometric occupancy. To address this, we introduce…