Related papers: Sensor-Invariant Tactile Representation
Vision-based tactile sensors (VBTS) have gained widespread application in robotic hands, grippers and prosthetics due to their high spatial resolution, low manufacturing costs, and ease of customization. While VBTSs have common design…
Camera-based tactile sensors have shown great promise in enhancing a robot's ability to perform a variety of dexterous manipulation tasks. Advantages of their use can be attributed to the high resolution tactile data and 3D depth map…
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
With the booming of pre-trained transformers, representation-based models based on Siamese transformer encoders have become mainstream techniques for efficient text matching. However, these models suffer from severe performance degradation…
Tactile perception is profoundly influenced by the surface properties of objects in contact. However, despite their crucial role in shaping tactile experiences, these material characteristics have been largely neglected in existing tactile…
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration into hands, and low spatial resolution. We present a method…
Humans have exceptional tactile sensing capabilities, which they can leverage to solve challenging, partially observable tasks that cannot be solved from visual observation alone. Research in tactile sensing attempts to unlock this new…
Attribute based knowledge transfer has proven very successful in visual object analysis and learning previously unseen classes. However, the common approach learns and transfers attributes without taking into consideration the embedded…
Thermal infrared imaging exhibits considerable potentials for robotic perception tasks, especially in environments with poor visibility or challenging lighting conditions. However, TIR images typically suffer from heavy non-uniform…
Surgical instrument segmentation -- in general a pixel classification task -- is fundamentally crucial for promoting cognitive intelligence in robot-assisted surgery (RAS). However, previous methods are struggling with discriminating…
Distributed tactile sensing remains difficult to scale over large areas: dense sensor arrays increase wiring, cost, and fragility, while many alternatives provide limited coverage or miss fast interaction dynamics. We present Sound of…
We present a scene representation, which we call a tactile-augmented radiance field (TaRF), that brings vision and touch into a shared 3D space. This representation can be used to estimate the visual and tactile signals for a given 3D…
Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…
Thanks to recent advancements in the development of inexpensive, high-resolution tactile sensors, touch sensing has become popular in contact-rich robotic manipulation tasks. With the surge of data-driven methods and their requirement for…
Pretrained transformers readily adapt to new sequence modeling tasks via zero-shot prompting, but relational domains still lack architectures that transfer across datasets and tasks. The core challenge is the diversity of relational data,…
Speech Translation (ST) is the task of translating speech in one language into text in another language. Traditional cascaded approaches for ST, using Automatic Speech Recognition (ASR) and Machine Translation (MT) systems, are prone to…
High-density afferents in the human hand have long been regarded as essential for human grasping and manipulation abilities. In contrast, robotic tactile sensors are typically used to provide low-density contact data, such as…
The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…
Synthetic Aperture Radar (SAR) offers all-weather, high-resolution imaging capabilities, but its complex imaging mechanism often poses challenges for interpretation. In response to these limitations, this paper introduces an innovative…
Vision Transformer (ViT) architectures represent images as collections of high-dimensional vectorized tokens, each corresponding to a rectangular non-overlapping patch. This representation trades spatial granularity for embedding…