Related papers: Proactive tactile exploration for object-agnostic …

Capturing the 3D geometry of transparent objects is a challenging task, ill-suited for general-purpose scanning and reconstruction techniques, since these cannot handle specular light transport phenomena. Existing state-of-the-art methods,…

This paper focuses on a challenging setting of simultaneously modeling geometry and appearance of hand-object interaction scenes without any object priors. We follow the trend of dynamic 3D Gaussian Splatting based methods, and address…

Tactile perception is a crucial sensing modality in robotics, particularly in scenarios that require precise manipulation and safe interaction with other objects. Previous research in this area has focused extensively on tactile perception…

This paper explores active sensing strategies that employ vision-based tactile sensors for robotic perception and classification of fabric textures. We formalize the active sampling problem in the context of tactile fabric recognition and…

Robots operating in the real world must plan through environments that deform, yield, and reconfigure under contact, requiring interaction-aware 3D representations that extend beyond static geometric occupancy. To address this, we introduce…

Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and more advanced encoding techniques. In this work, we…

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…

In this paper, we present a methodology that uses an optical tactile sensor for efficient tactile exploration of embedded objects within soft materials. The methodology consists of an exploration phase, where a probabilistic estimate of the…

3D Shape representation has substantial effects on 3D shape reconstruction. Primitive-based representations approximate a 3D shape mainly by a set of simple implicit primitives, but the low geometrical complexity of the primitives limits…

Robots operating in an open world will encounter novel objects with unknown physical properties, such as mass, friction, or size. These robots will need to sense these properties through interaction prior to performing downstream tasks with…

Collaborative robots stand to have an immense impact on both human welfare in domestic service applications and industrial superiority in advanced manufacturing with dexterous assembly. The outstanding challenge is providing robotic…

Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…

In this paper, we present Tac2Pose, an object-specific approach to tactile pose estimation from the first touch for known objects. Given the object geometry, we learn a tailored perception model in simulation that estimates a probability…

We reconstruct 3D deformable object through time, in the context of a live pottery making process where the crafter molds the object. Because the object suffers from heavy hand interaction, and is being deformed, classical techniques cannot…

3D reconstruction of hand-object manipulations is important for emulating human actions. Most methods dealing with challenging object manipulation scenarios, focus on hands reconstruction in isolation, ignoring physical and kinematic…

Estimating the poses of both a hand and an object has become an important area of research due to the growing need for advanced vision computing. The primary challenge involves understanding and reconstructing how hands and objects…

Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To accurately reconstruct object contours, it is crucial for the…

Compared with contact-based fingerprint acquisition techniques, contactless acquisition has the advantages of less skin distortion, larger fingerprint area, and hygienic acquisition. However, perspective distortion is a challenge in…

Single view-based reconstruction of hand-object interaction is challenging due to the severe observation missing caused by occlusions. This paper proposes a physics-based method to better solve the ambiguities in the reconstruction. It…

Object geometry is key information for robot manipulation. Yet, object reconstruction is a challenging task because cameras only capture partial observations of objects, especially when occlusion occurs. In this paper, we leverage two extra…