Related papers: TacLoc: Global Tactile Localization on Objects fro…
We address the problem of tracking 3D object poses from touch during in-hand manipulations. Specifically, we look at tracking small objects using vision-based tactile sensors that provide high-dimensional tactile image measurements at the…
This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence.…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
Tactile sensing is used in robotics to obtain real-time feedback during physical interactions. Fine object manipulation is a robotic application that benefits from a high density of sensors to accurately estimate object pose, whereas a low…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining…
In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface.…
Robust place recognition is essential for reliable localization in robotics, particularly in complex environments with frequent indoor-outdoor transitions. However, existing LiDAR-based datasets often focus on outdoor scenarios and lack…
Object placement is a fundamental task for robots, yet it remains challenging for partially observed objects. Existing methods for object placement have limitations, such as the requirement for a complete 3D model of the object or the…
Tactile sensing on human feet is crucial for motion control, however, has not been explored in robotic counterparts. This work is dedicated to endowing tactile sensing to legged robot's feet and showing that a single-legged robot can be…
Picking up transparent objects is still a challenging task for robots. The visual properties of transparent objects such as reflection and refraction make the current grasping methods that rely on camera sensing fail to detect and localise…
Tactile gesture recognition systems play a crucial role in Human-Robot Interaction (HRI) by enabling intuitive communication between humans and robots. The literature mainly addresses this problem by applying machine learning techniques to…
This paper addresses the problem of simultaneously exploring an unknown object to model its shape, using tactile sensors on robotic fingers, while also improving finger placement to optimise grasp stability. In many situations, a robot will…
Robots operating in real-world environments frequently encounter unknown objects with complex structures and articulated components, such as doors, drawers, cabinets, and tools. The ability to perceive, track, and manipulate these objects…
Text-to-point-cloud (T2P) localization aims to infer precise spatial positions within 3D point cloud maps from natural language descriptions, reflecting how humans perceive and communicate spatial layouts through language. However, existing…
Tactile sensing is critical for humans to perform everyday tasks. While significant progress has been made in analyzing object grasping from vision, it remains unclear how we can utilize tactile sensing to reason about and model the…
Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…
The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…
Accurate estimation of the relative pose between an object and a robot hand is critical for many manipulation tasks. However, most of the existing object-in-hand pose datasets use two-finger grippers and also assume that the object remains…
Multi-robot platforms are playing an increasingly important role in warehouse automation for efficient goods transport. This paper proposes a novel customization of a multi-robot system, called Tactile Mobile Manipulators (TacMMs). Each…