Related papers: TactDeform: Finger Pad Deformation Inspired Spatia…
Textured meshes significantly enhance the realism and detail of objects by mapping intricate texture details onto the geometric structure of 3D models. This advancement is valuable across various applications, including entertainment,…
Recently, tactile sensing has attracted great interest in robotics, especially for facilitating exploration of unstructured environments and effective manipulation. A detailed understanding of the surface textures via tactile sensing is…
Tactile sensors are increasingly integrated into dexterous robotic manipulators to enhance contact perception. However, learning manipulation policies that rely on tactile sensing remains challenging, primarily due to the trade-off between…
Perceiving accurate 3D object shape is important for robots to interact with the physical world. Current research along this direction has been primarily relying on visual observations. Vision, however useful, has inherent limitations due…
Estimating correspondences between deformed shape instances is a long-standing problem in computer graphics; numerous applications, from texture transfer to statistical modelling, rely on recovering an accurate correspondence map. Many…
Tactile sensing typically involves active exploration of unknown surfaces and objects, making it especially effective at processing the characteristics of materials and textures. A key property extracted by human tactile perception is…
We present a scene representation, which we call a tactile-augmented radiance field (TaRF), that brings vision and touch into a shared 3D space. This representation can be used to estimate the visual and tactile signals for a given 3D…
We study the problem of object retrieval in scenarios where visual sensing is absent, object shapes are unknown beforehand and objects can move freely, like grabbing objects out of a drawer. Successful solutions require localizing free…
The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…
Contact often occurs without macroscopic surface deformation, such as during interaction with liquids, semi-liquids, or ultra-soft materials. However, most existing tactile sensors rely on deformation to infer contact, making such…
Robotic grasping of 3D deformable objects (e.g., fruits/vegetables, internal organs, bottles/boxes) is critical for real-world applications such as food processing, robotic surgery, and household automation. However, developing grasp…
We propose and study a novel cross-reality environment that seamlessly integrates a monoscopic 2D surface (an interactive screen with touch and pen input) with a stereoscopic 3D space (an augmented reality HMD) to jointly host spatial data…
Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprioceptive sensor…
Tactile feedback is critical for understanding the dynamics of both rigid and deformable objects in many manipulation tasks, such as non-prehensile manipulation and dense packing. We introduce an approach that combines visual and tactile…
Bringing tactile sensation to robotic hands will allow for more effective grasping, along with the wide range of benefits of human-like touch. Here we present a 3D-printed, three-fingered tactile robot hand comprising an OpenHand Model O…
Camera-based tactile sensors have shown great promise in enhancing a robot's ability to perform a variety of dexterous manipulation tasks. Advantages of their use can be attributed to the high resolution tactile data and 3D depth map…
We present 3DTouch, a novel 3D wearable input device worn on the fingertip for 3D manipulation tasks. 3DTouch is designed to fill the missing gap of a 3D input device that is self-contained, mobile, and universally working across various 3D…
Tactile sensing is critical for robotic grasping and manipulation of objects under visual occlusion. However, in contrast to simulations of robot arms and cameras, current simulations of tactile sensors have limited accuracy, speed, and…
When we move on snow, sand, or mud, the ground deforms under our feet, immediately affecting our gait. We propose a physically based model for computing such interactions in real time, from only the kinematic motion of a virtual character.…
Tissue deformation in ultrasound (US) imaging leads to geometrical errors when measuring tissues due to the pressure exerted by probes. Such deformation has an even larger effect on 3D US volumes as the correct compounding is limited by the…