Related papers: Single-Pixel Tactile Skin via Compressive Sampling

This paper presents a novel regrasp control policy that makes use of tactile sensing to plan local grasp adjustments. Our approach determines regrasp actions by virtually searching for local transformations of tactile measurements that…

Point-source transient events (PSTEs) - optical events that are both extremely fast and extremely small - pose several challenges to an imaging system. Due to their speed, accurately characterizing such events often requires detectors with…

We present an end-to-end system for reconstructing complete watertight and textured models of moving subjects such as clothed humans and animals, using only three or four handheld sensors. The heart of our framework is a new pairwise…

Pixel-aligned implicit models, such as PIFu, PIFuHD, and ICON, are used for single-view clothed human reconstruction. These models need to be trained using a sampling training scheme. Existing sampling training schemes either fail to…

To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tactile perception. In this study, we use a dedicated modular…

Tactile sensing has proven to be an invaluable tool for enhancing robotic perception, particularly in scenarios where visual data is limited or unavailable. However, traditional methods for pose estimation using tactile data often rely on…

Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation, we propose DOT-Sim: Differentiable…

Real-time prediction of deformation in highly compliant soft materials remains a significant challenge in soft robotics. While vision-based soft tactile sensors can track internal marker displacements, learning-based models for 3D contact…

Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…

Single-pixel imaging (SPI) is a novel imaging technique whose working principle is based on the compressive sensing (CS) theory. In SPI, data is obtained through a series of compressive measurements and the corresponding image is…

We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…

Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…

Interactive segmentation aims to extract objects of interest from an image based on user-provided clicks. In real-world applications, there is often a need to segment a series of images featuring the same target object. However, existing…

Distinguishing the feel of smooth silk from coarse cotton is a trivial everyday task for humans. When exploring such fabrics, fingertip skin senses both spatio-temporal force patterns and texture-induced vibrations that are integrated to…

High-resolution tactile sensors have become critical for embodied perception and robotic manipulation. However, a key challenge in the field is the lack of transferability between sensors due to design and manufacturing variations, which…

Intelligent interaction with the physical world requires perceptual abilities beyond vision and hearing; vibrant tactile sensing is essential for autonomous robots to dexterously manipulate unfamiliar objects or safely contact humans.…

Traditional methods for achieving high localization accuracy on tactile sensors usually involve a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity…

Electronic skin, a class of wearable electronic sensors that mimic the functionalities of human skin, has made remarkable success in applications including health monitoring, human-machine interaction and electronic-biological interfaces.…

In order to utilize identification to the best extent, we need robust and fast algorithms and systems to process the data. Having palmprint as a reliable and unique characteristic of every person, we extract and use its features based on…

Advances in CMOS technology have made high resolution image sensors possible. These image sensor pose significant challenges in terms of the amount of raw data generated, energy efficiency and frame rate. This paper presents a new design…