Related papers: Tacmap: Bridging the Tactile Sim-to-Real Gap via G…
Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also accounting for the motion induced by the interaction. In this…
Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…
For the shape control of deformable free-form surfaces, simulation plays a crucial role in establishing the mapping between the actuation parameters and the deformed shapes. The differentiation of this forward kinematic mapping is usually…
Robotic disassembly involves contact-rich interactions in which successful manipulation depends not only on geometric alignment but also on force-dependent state transitions. While vision-based policies perform well in structured settings,…
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…
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration into hands, and low spatial resolution. We present a method…
High-fidelity haptic feedback is essential for immersive virtual environments, yet authoring realistic tactile textures remains a significant bottleneck for designers. We introduce HapticMatch, a visual-to-tactile generation framework…
Vision-based tactile sensors typically utilize a deformable elastomer and a camera mounted above to provide high-resolution image observations of contacts. Obtaining accurate volumetric meshes for the deformed elastomer can provide direct…
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…
The research aims to expand tactile feedback beyond vibrations to various modes of stimuli, such as indentation, vibration, among others. By incorporating soft material into the design of a novel tactile actuator, we can achieve…
Vision-based tactile sensors (VBTS) face a fundamental trade-off in marker and markerless design on the tactile skin: opaque ink markers enable measurement of force and tangential displacement but completely occlude geometric features…
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…
This work studies the problem of shape reconstruction and object localization using a vision-based tactile sensor, GelSlim. The main contributions are the recovery of local shapes from contact, an approach to reconstruct the tactile shape…
Tactile sensing plays a fundamental role in enabling robots to navigate dynamic and unstructured environments, particularly in applications such as delicate object manipulation, surface exploration, and human-robot interaction. In this…
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…
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…
Open-vocabulary panoptic reconstruction is crucial for advanced robotics and simulation. However, existing 3D reconstruction methods, such as NeRF or Gaussian Splatting variants, often struggle to achieve the real-time inference frequency…
3D generation methods have shown visually compelling results powered by diffusion image priors. However, they often fail to produce realistic geometric details, resulting in overly smooth surfaces or geometric details inaccurately baked in…
Recent progress of video diffusion models have enabled extensive simulation of the physical world. While simulation with hand object interaction has been less explored. We propose DexSIM, a dexterous simulation framework for simulating…
In this paper, we introduce the notion of simulation-gap functions to formally quantify the potential gap between an approximate nominal mathematical model and the high-fidelity simulator representation of a real system. Given a nominal…