Related papers: AnyTouch: Learning Unified Static-Dynamic Represen…
Vision-Based Tactile Sensors (VBTS) are essential for achieving dexterous robotic manipulation, yet the tactile sim-to-real gap remains a fundamental bottleneck. Current tactile simulations suffer from a persistent dilemma: simplified…
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…
Fine-grained and contact-rich manipulation remain challenging for robots, largely due to the underutilization of tactile feedback. To address this, we introduce TouchGuide, a novel cross-policy visuo-tactile fusion paradigm that fuses…
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…
Visuomotor policies often suffer from perceptual challenges, where visual differences between training and evaluation environments degrade policy performance. Policies relying on state estimations, like 6D pose, require task-specific…
Existing psychophysical studies have revealed that the cross-modal visual-tactile perception is common for humans performing daily activities. However, it is still challenging to build the algorithmic mapping from one modality space to…
Vision-based tactile sensors use structured light to measure deformation in their elastomeric interface. Until now, vision-based tactile sensors such as DIGIT and GelSight have been using a single, static pattern of structured light tuned…
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…
Tactile sensing, which relies on direct physical contact, is critical for human perception and underpins applications in computer vision, robotics, and multimodal learning. Because tactile data is often scarce and costly to acquire,…
Pose estimation is essential for robotic manipulation, particularly when visual perception is occluded during gripper-object interactions. Existing tactile-based methods generally rely on tactile simulation or pre-trained models, which…
Affective tactile interaction constitutes a fundamental component of human communication. In natural human-human encounters, touch is seldom experienced in isolation; rather, it is inherently multisensory. Individuals not only perceive the…
Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…
Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…
Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…
Vision-Language-Action (VLA) models have shown remarkable generalization by mapping web-scale knowledge to robotic control, yet they remain blind to physical contact. Consequently, they struggle with contact-rich manipulation tasks that…
This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
Biological intelligence systems of animals perceive the world by integrating information in different modalities and processing simultaneously for various tasks. In contrast, current machine learning research follows a task-specific…
Tactile information is a critical tool for dexterous manipulation. As humans, we rely heavily on tactile information to understand objects in our environments and how to interact with them. We use touch not only to perform manipulation…
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…