Related papers: ControlTac: Force- and Position-Controlled Tactile…
Robotic manipulation has seen rapid progress with vision-language-action (VLA) policies. However, visuo-tactile perception is critical for contact-rich manipulation, as tasks such as insertion are difficult to complete robustly using vision…
Tactile sensation is essential for contact-rich manipulation tasks. It provides direct feedback on object geometry, surface properties, and interaction forces, enhancing perception and enabling fine-grained control. An inherent limitation…
For both humans and robots, the sense of touch, known as tactile sensing, is critical for performing contact-rich manipulation tasks. Three key challenges in robotic tactile sensing are 1) interpreting sensor signals, 2) generating sensor…
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…
Tactile sensing presents a promising opportunity for enhancing the interaction capabilities of today's robots. BioTac is a commonly used tactile sensor that enables robots to perceive and respond to physical tactile stimuli. However, the…
The advancements in vision-based tactile sensors have boosted the aptitude of robots to perform contact-rich manipulation, particularly when precise positioning and contact state of the manipulated objects are crucial for successful…
Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…
Tactile information is important for gripping, stable grasp, and in-hand manipulation, yet the complexity of tactile data prevents widespread use of such sensors. We make use of an unsupervised learning algorithm that transforms the complex…
We present TASC, a Task-Aware Shared Control framework for teleoperated manipulation that infers task-level user intent and provides assistance throughout the task. To support everyday tasks without predefined knowledge, TASC constructs an…
In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive,…
The advent of tactile sensors in robotics has sparked many ideas on how robots can leverage direct contact measurements of their environment interactions to improve manipulation tasks. An important line of research in this regard is that of…
Tactile feedback is generally recognized to be crucial for effective interaction with the physical world. However, state-of-the-art Vision-Language-Action (VLA) models lack the ability to interpret and use tactile signals, limiting their…
While autonomous Uncrewed Aerial Vehicles (UAVs) have grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physical interactions, which offers a way to assist humans in…
Embodied intelligence has advanced rapidly in recent years; however, bimanual manipulation-especially in contact-rich tasks remains challenging. This is largely due to the lack of datasets with rich physical interaction signals, systematic…
Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is…
Real-world contact-rich manipulation demands robots to perceive temporal tactile feedback, capture subtle surface deformations, and reason about object properties as well as force dynamics. Although optical tactile sensors are uniquely…
We present FlexiTac, a low-cost, open-source, and scalable piezoresistive tactile sensing solution designed for robotic end-effectors. FlexiTac is a practical "plug-in" module consisting of (i) thin, flexible tactile sensor pads that…
The development of vision-based tactile sensors has significantly enhanced robots' perception and manipulation capabilities, especially for tasks requiring contact-rich interactions with objects. In this work, we present DTactive, a novel…
Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and…
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…