Related papers: AnyTouch 2: General Optical Tactile Representation…

In general, robotic dexterous hands are equipped with various sensors for acquiring multimodal contact information such as position, force, and pose of the grasped object. This multi-sensor-based design adds complexity to the robotic…

Executing contact-rich manipulation tasks necessitates the fusion of tactile and visual feedback. However, the distinct nature of these modalities poses significant challenges. In this paper, we introduce a system that leverages visual and…

To achieve dexterity comparable to that of humans, robots must intelligently process tactile sensor data. Taxel-based tactile signals often have low spatial-resolution, with non-standardized representations. In this paper, we propose a…

The ability to associate touch with other modalities has huge implications for humans and computational systems. However, multimodal learning with touch remains challenging due to the expensive data collection process and non-standardized…

Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…

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…

Much of the literature on robotic perception focuses on the visual modality. Vision provides a global observation of a scene, making it broadly useful. However, in the domain of robotic manipulation, vision alone can sometimes prove…

The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…

Quadrupedal robots have demonstrated remarkable agility and robustness in traversing complex terrains. However, they struggle with dynamic object interactions, where contact must be precisely sensed and controlled. To bridge this gap, we…

In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…

Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…

The human hand is our primary interface to the physical world, yet egocentric perception rarely knows when, where, or how forcefully it makes contact. Robust wearable tactile sensors are scarce, and no existing in-the-wild datasets align…

Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…

Tactile sensing is critical in advanced interactive systems by emulating the human sense of touch to detect stimuli. Vision-based tactile sensors are promising for providing multimodal capabilities and high robustness, yet existing…

We address the problem of tactile localization, where the goal is to identify image regions that share the same material properties as a tactile input. Existing visuo-tactile methods rely on global alignment and thus fail to capture the…

Tactile sensing, which relies on direct physical contact, is critical for human perception and underpins applications in computer vision, robotics, and multimodal learning. Because tactile data is often scarce and costly to acquire,…

Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects…

To achieve a dexterous robotic manipulation, we need to endow our robot with tactile feedback capability, i.e. the ability to drive action based on tactile sensing. In this paper, we specifically address the challenge of tactile servoing,…

To assist robots in teleoperation tasks, haptic rendering which allows human operators access a virtual touch feeling has been developed in recent years. Most previous haptic rendering methods strongly rely on data collected by tactile…

Teaching dexterity to multi-fingered robots has been a longstanding challenge in robotics. Most prominent work in this area focuses on learning controllers or policies that either operate on visual observations or state estimates derived…