Related papers: Proactive tactile exploration for object-agnostic …
We present a novel approach to interactive 3D object perception for robots. Unlike previous perception algorithms that rely on known object models or a large amount of annotated training data, we propose a poking-based approach that…
Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…
Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…
We investigate the transduction of tactile information during active exploration of finely textured surfaces using a novel tactile sensor mimicking the human fingertip. The sensor has been designed by integrating a linear array of 10…
Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
High-resolution (HR) contact surface information is essential for robotic grasping and precise manipulation tasks. However, it remains a challenge for current taxel-based sensors to obtain HR tactile information. In this paper, we focus on…
Adept manipulation of articulated objects is essential for robots to operate successfully in human environments. Such manipulation requires both effectiveness--reliable operation despite uncertain object structures--and efficiency--swift…
Intricate behaviors an organism can exhibit is predicated on its ability to sense and effectively interpret complexities of its surroundings. Relevant information is often distributed between multiple modalities, and requires the organism…
Recent years have seen the development of mature solutions for reconstructing deformable surfaces from a single image, provided that they are relatively well-textured. By contrast, recovering the 3D shape of texture-less surfaces remains an…
Current methods to estimate object shape---using either vision or touch---generally depend on high-resolution sensing. Here, we exploit ergodic exploration to demonstrate successful shape estimation when using a low-resolution binary…
Numerous techniques have been proposed for reconstructing 3D models for opaque objects in past decades. However, none of them can be directly applied to transparent objects. This paper presents a fully automatic approach for reconstructing…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…
Currently, manipulation tasks for deformable objects often focus on activities like folding clothes, handling ropes, and manipulating bags. However, research on contact-rich tasks involving deformable objects remains relatively…
Reconstructing general dynamic scenes is important for many computer vision and graphics applications. Recent works represent the dynamic scene with neural radiance fields for photorealistic view synthesis, while their surface geometry is…
As humans can explore and understand the world through active touch, similar capability is desired for robots. In this paper, we address the problem of active tactile object recognition, pose estimation and shape transfer learning, where a…
We address the problem of tracking 3D object poses from touch during in-hand manipulations. Specifically, we look at tracking small objects using vision-based tactile sensors that provide high-dimensional tactile image measurements at the…
Recent advances have enabled 3d object reconstruction approaches using a single off-the-shelf RGB-D camera. Although these approaches are successful for a wide range of object classes, they rely on stable and distinctive geometric or…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…