Related papers: Vision-based Tactile Image Generation via Contact …

Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is…

Tactile sensing is a essential for skilled manipulation and object perception, but existing devices are unable to capture mechanical signals in the full gamut of regimes that are important for human touch sensing, and are unable to emulate…

Modern audio-visual media rely on compact representations for efficient storage and transmission, whereas realistic digital touch still depends on high-resolution tactile recordings. Existing approaches for representing tactile signals…

Tactile sensing is crucial for achieving human-level robotic capabilities in manipulation tasks. As a promising solution, Vision-Based Tactile Sensors (VBTSs) offer high spatial resolution and cost-effectiveness, but present unique…

Knowledge of the 6D pose of an object can benefit in-hand object manipulation. In-hand 6D object pose estimation is challenging because of heavy occlusion produced by the robot's grippers, which can have an adverse effect on methods that…

Robotic pushing is a fundamental manipulation task that requires tactile feedback to capture subtle contact forces and dynamics between the end-effector and the object. However, real tactile sensors often face hardware limitations such as…

Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…

Dexterous grasp generation is a fundamental challenge in robotics, requiring both grasp stability and adaptability across diverse objects and tasks. Analytical methods ensure stable grasps but are inefficient and lack task adaptability,…

In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface.…

Diffusion models have made breakthroughs in 3D generation tasks. Current 3D diffusion models focus on reconstructing target shape from images or a set of partial observations. While excelling in global context understanding, they struggle…

Humans perceive the world using multi-modal sensory inputs such as vision, audition, and touch. In this work, we investigate the cross-modal connection between vision and touch. The main challenge in this cross-domain modeling task lies in…

Spatial tactile feedback can enhance the realism of geometry exploration in virtual reality applications. Current vibrotactile approaches often face challenges with the spatial and temporal resolution needed to render different 3D…

In this paper, we present an approach to tactile pose estimation from the first touch for known objects. First, we create an object-agnostic map from real tactile observations to contact shapes. Next, for a new object with known geometry,…

The GelSight-like visual tactile (VT) sensor has gained popularity as a high-resolution tactile sensing technology for robots, capable of measuring touch geometry using a single RGB camera. However, the development of multi-modal perception…

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…

Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…

In this paper, we tackle the problem of estimating 3D contact forces using vision-based tactile sensors. In particular, our goal is to estimate contact forces over a large range (up to 15 N) on any objects while generalizing across…

Human tactile perception of materials relies on complex multisensory touch cues, yet the relationship between low-level tactile signals and perceptual representations remains poorly understood. This knowledge gap hinders the integration of…

Vision-based tactile sensors encode object data via optical signals, capturing microscale deformations using elastomer through densely arranged optical imaging sensors to detect subtle data variations. To enable continuous contact…