Related papers: Adaptive Compressive Tactile Subsampling: Enabling…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation, we propose DOT-Sim: Differentiable…
Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…
Despite decades of research, general purpose in-hand manipulation remains one of the unsolved challenges of robotics. One of the contributing factors that limit current robotic manipulation systems is the difficulty of precisely sensing…
We present Adaptive Skill Coordination (ASC) -- an approach for accomplishing long-horizon tasks like mobile pick-and-place (i.e., navigating to an object, picking it, navigating to another location, and placing it). ASC consists of three…
Modern incarnations of tactile sensors produce high-dimensional raw sensory feedback such as images, making it challenging to efficiently store, process, and generalize across sensors. To address these concerns, we introduce a novel…
Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile…
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…
Misdiagnosis can result in delayed treatment and patient harm. Robotic patient simulators (robopatients) provide a controlled framework for training and evaluating clinicians in rare and complex cases. We investigate auditory tactile…
To achieve dexterity comparable to that of humans, robots must intelligently process tactile sensor data. Taxel-based tactile signals often have low spatial-resolution, with non-standardized representations. In this paper, we propose a…
Robotic manipulation is essential for the widespread adoption of robots in industrial and home settings and has long been a focus within the robotics community. Advances in artificial intelligence have introduced promising learning-based…
Human demonstrations collected by wearable devices (e.g., tactile gloves) provide fast and dexterous supervision for policy learning, and are guided by rich, natural tactile feedback. However, a key challenge is how to transfer…
Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using touch to perceive and interact with the surrounding…
Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…
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…
Action recognition technology plays a vital role in enhancing security through surveillance systems, enabling better patient monitoring in healthcare, providing in-depth performance analysis in sports, and facilitating seamless human-AI…
Vision-based tactile sensing has been widely used in perception, reconstruction, and robotic manipulation. However, collecting large-scale tactile data remains costly due to the localized nature of sensor-object interactions and…
To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…
Grasping objects requires tight integration between visual and tactile feedback. However, there is an inherent difference in the scale at which both these input modalities operate. It is thus necessary to be able to analyze tactile feedback…
Complex robotic tasks require human collaboration to benefit from their high dexterity. Frequent human-robot interaction is mentally demanding and time-consuming. Intuitive and easy-to-use robot control interfaces reduce the negative…