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Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Tactility provides crucial support and enhancement for the perception and interaction capabilities of both humans and robots. Nevertheless, the multimodal research related to touch primarily focuses on visual and tactile modalities, with…
Remarkable progress has been made in recent years in the fields of vision, language, and robotics. We now have vision models capable of recognizing objects based on language queries, navigation systems that can effectively control mobile…
Tactile sensing is essential for robots to achieve human-like gentle manipulation. However, existing Vision-Language-Action (VLA) models struggle to exploit tactile feedback for gentle manipulation due to scarce aligned…
Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics,…
Robotic manipulation requires both rich multimodal perception and effective learning frameworks to handle complex real-world tasks. See-through-skin (STS) sensors, which combine tactile and visual perception, offer promising sensing…
Robotic manipulation in contact-rich environments remains challenging, particularly when relying on conventional tactile sensors that suffer from limited sensing range, reliability, and cost-effectiveness. In this work, we present LVTG, a…
Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…
Humanoid robots must adapt their contact behavior to diverse objects and tasks, yet most controllers rely on fixed, hand-tuned impedance gains and gripper settings. This paper introduces HumanoidVLM, a vision-language driven retrieval…
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…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…
Enabling robots to grasp objects specified through natural language is essential for effective human-robot interaction, yet it remains a significant challenge. Existing approaches often struggle with open-form language expressions and…
Simulators perform an important role in prototyping, debugging, and benchmarking new advances in robotics and learning for control. Although many physics engines exist, some aspects of the real world are harder than others to simulate. One…
Manipulating fragile objects in environments such as homes and factories requires stable and gentle grasping along with precise and safe placement. Compared to traditional rigid grippers, the use of soft grippers reduces the control…
For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…
This paper introduces RoTipBot, a novel robotic system for handling thin, flexible objects. Different from previous works that are limited to singulating them using suction cups or soft grippers, RoTipBot can count multiple layers and then…
Visuo-tactile perception aims to understand an object's tactile properties, such as texture, softness, and rigidity. However, the field remains underexplored because collecting tactile data is costly and labor-intensive. We observe that…
Tactile perception is essential for embodied agents to understand physical attributes of objects that cannot be determined through visual inspection alone. While existing approaches have made progress in visual and language modalities for…
Touch holds a pivotal position in enhancing the perceptual and interactive capabilities of both humans and robots. Despite its significance, current tactile research mainly focuses on visual and tactile modalities, overlooking the language…
Tactile information plays a crucial role for humans and robots to interact effectively with their environment, particularly for tasks requiring the understanding of contact properties. Solving such dexterous manipulation tasks often relies…