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Soft sensors have continued growing interest in robotics, due to their ability to enable both passive conformal contact from the material properties and active contact data from the sensor properties. However, the same properties of…
Dynamic scene reconstruction has garnered significant attention in recent years due to its capabilities in high-quality and real-time rendering. Among various methodologies, constructing a 4D spatial-temporal representation, such as 4D-GS,…
Reconstructing transparent objects using affordable RGB-D cameras is a persistent challenge in robotic perception due to inconsistent appearances across views in the RGB domain and inaccurate depth readings in each single-view. We introduce…
In this paper, we address the Sim2Real gap in the field of vision-based tactile sensors for classifying object surfaces. We train a Diffusion Model to bridge this gap using a relatively small dataset of real-world images randomly collected…
Omnidirectional (or 360-degree) images are increasingly being used for 3D applications since they allow the rendering of an entire scene with a single image. Existing works based on neural radiance fields demonstrate successful 3D…
Reconstructing intricate, ever-changing environments remains a central ambition in computer vision, yet existing solutions often crumble before the complexity of real-world dynamics. We present DynaSplat, an approach that extends Gaussian…
Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in…
Compared to fully-actuated robotic end-effectors, underactuated ones are generally more adaptive, robust, and cost-effective. However, state estimation for underactuated hands is usually more challenging. Vision-based tactile sensors, like…
We present a zero-shot deformation reconstruction framework for soft robots that operates without any visual supervision at inference time. In this work, zero-shot deformation reconstruction is defined as the ability to infer object-wide…
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…
Vision-based tactile sensors that can measure 3D geometry of the contacting objects are crucial for robots to perform dexterous manipulation tasks. However, the existing sensors are usually complicated to fabricate and delicate to extend.…
Grasping objects requires tight integration between visual and tactile feedback. However, there is an inherent difference in the scale at which both these input modalities operate. It is thus necessary to be able to analyze tactile feedback…
Multi-modal scene reconstruction integrating RGB and thermal infrared data is essential for robust environmental perception across diverse lighting and weather conditions. However, extending 3D Gaussian Splatting (3DGS) to multi-spectral…
Omnidirectional images are increasingly used in robotics and vision due to their wide field of view. However, extending 3D Gaussian Splatting (3DGS) to panoramic camera models remains challenging, as existing formulations are designed for…
This paper describes a system for transmitting softness and the motion of shape or contact area sensation using a vision based tactile sensor and a tactile display in which mechanical and electrical stimulation are combined. A unit of…
Underwater scene reconstruction is essential for immersive exploration of aquatic environments, yet remains challenging due to complex participating-media effects such as absorption and scattering, as well as the limited field of view (FoV)…
Topology-consistent dynamic model sequences are essential for applications such as animation and model editing. However, existing 4D reconstruction methods face challenges in generating high-quality topology-consistent meshes. To address…
Advances in 3D reconstruction using neural rendering have enabled high-quality 3D capture. However, they often fail when the input imagery is corrupted by motion blur, due to fast motion of the camera or the objects in the scene. This work…
Development of large-area, high-speed electronic skins is a grand challenge for robotics, prosthetics, and human-machine interfaces, but is fundamentally limited by wiring complexity and data bottlenecks. Here, we introduce Single-Pixel…
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…