Related papers: RA-Touch: Retrieval-Augmented Touch Understanding …
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…
Humans excel at bimanual assembly tasks by adapting to rich tactile feedback -- a capability that remains difficult to replicate in robots through behavioral cloning alone, due to the suboptimality and limited diversity of human…
Generation with source attribution is important for enhancing the verifiability of retrieval-augmented generation (RAG) systems. However, existing approaches in RAG primarily link generated content to document-level references, making it…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
Vision-based tactile sensing has been widely used in perception, reconstruction, and robotic manipulation. However, collecting large-scale tactile data remains costly due to the localized nature of sensor-object interactions and…
Visual relation detection methods rely on object information extracted from RGB images such as 2D bounding boxes, feature maps, and predicted class probabilities. We argue that depth maps can additionally provide valuable information on…
High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…
One of the most useful techniques to help visual data analysis systems is interactive filtering (brushing). However, visualization techniques often suffer from overlap of graphical items and multiple attributes complexity, making visual…
Transparent objects are common in daily life. However, depth sensing for transparent objects remains a challenging problem. While learning-based methods can leverage shape priors to improve the sensing quality, the labor-intensive data…
Learning representations in the joint domain of vision and touch can improve manipulation dexterity, robustness, and sample-complexity by exploiting mutual information and complementary cues. Here, we present Visuo-Tactile Transformers…
Modern audio-visual media rely on compact representations for efficient storage and transmission, whereas realistic digital touch still depends on high-resolution tactile recordings. Existing approaches for representing tactile signals…
The visual analysis of retinal data contributes to the understanding of a wide range of eye diseases. For the evaluation of cross-sectional studies, ophthalmologists rely on workflows and toolsets established in their work environment. That…
Visuotactile sensing offers rich contact information that can help mitigate performance bottlenecks in imitation learning, particularly under vision-limited conditions, such as ambiguous visual cues or occlusions. Effectively fusing visual…
While rule-based reinforcement learning has recently catalyzed explicit reasoning in multimodal models, tactile reasoning remains largely underexplored. Existing tactile-language models primarily rely on supervised or contrastive…
Vision and touch are two fundamental sensory modalities for robots, offering complementary information that enhances perception and manipulation tasks. Previous research has attempted to jointly learn visual-tactile representations to…
Cross-modal retrieval is gaining increasing efficacy and interest from the research community, thanks to large-scale training, novel architectural and learning designs, and its application in LLMs and multimodal LLMs. In this paper, we move…
The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at…
Robotic pushing is a fundamental manipulation task that requires tactile feedback to capture subtle contact forces and dynamics between the end-effector and the object. However, real tactile sensors often face hardware limitations such as…
Alignment between real and virtual objects is a challenging task required for the deployment of Mixed Reality (MR) into manufacturing, medical, and construction applications. To face this challenge, a series of methods have been proposed.…
Tactile afferents such as (RA), and Pacinian (PC) afferents that respond to external stimuli enable complicated actions such as grasping, stroking and identifying an object. To understand the tactile sensation induced by these actions…