Related papers: ContactFusion: Stochastic Poisson Surface Maps fro…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
High-definition (HD) maps play a crucial role in autonomous driving systems. Recent methods have attempted to construct HD maps in real-time using vehicle onboard sensors. Due to the inherent limitations of onboard sensors, which include…
For humans, both the proprioception and touch sensing are highly utilized when performing haptic perception. However, most approaches in robotics use only either proprioceptive data or touch data in haptic object recognition. In this paper,…
A key human ability is to decompose a scene into distinct objects and use their relationships to understand the environment. Object-centric learning aims to mimic this process in an unsupervised manner. Recently, the slot attention-based…
How should we integrate representations from complementary sensors for autonomous driving? Geometry-based fusion has shown promise for perception (e.g. object detection, motion forecasting). However, in the context of end-to-end driving, we…
Recent years have seen an increased interest in establishing association between faces and voices of celebrities leveraging audio-visual information from YouTube. Prior works adopt metric learning methods to learn an embedding space that is…
We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sensors within a moving horizon estimator. ConFusion offers…
Humans make extensive use of vision and touch as complementary senses, with vision providing global information about the scene and touch measuring local information during manipulation without suffering from occlusions. While prior work…
Contact force in contact-rich environments is an essential modality for robots to perform general-purpose manipulation tasks, as it provides information to compensate for the deficiencies of visual and proprioceptive data in collision…
Non-contact radar-based human sensing is often interpreted using simplified motion assumptions. However, respiration induces non-rigid surface deformation of the human body that impacts electromagnetic wave scattering and can degrade the…
Calibration of fixtures in robotic work cells is essential but also time consuming and error-prone, and poor calibration can easily lead to wasted debugging time in downstream tasks. Contact-based calibration methods let the user measure…
Grasping and manipulating objects is an important human skill. Since hand-object contact is fundamental to grasping, capturing it can lead to important insights. However, observing contact through external sensors is challenging because of…
In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…
In this paper, we study task-oriented human grasp synthesis, a new grasp synthesis task that demands both task and context awareness. At the core of our method is the task-aware contact maps. Unlike traditional contact maps that only reason…
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as…
Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…
Sophisticated user interaction in the automotive industry is a fast emerging topic. Mid-air gestures and speech already have numerous applications for driver-car interaction. Additionally, multimodal approaches are being developed to…
For Cyper-Physical Production Systems (CPPS), localization is becoming increasingly important as wireless and mobile devices are considered an integral part. While localizing targets in a wireless communication system based on the Received…
Understanding contact between rough surfaces undergoing plastic deformation is crucial in many applications. We test Persson's multiscale contact mechanics theory for elastoplastic solids, assuming a constant penetration hardness. Using a…
A major source of endoscopic tissue tracking errors during deformations stems from wrong data association between observed sensor measurements with previously tracked scene. To mitigate this issue, we present a surgical perception…