Related papers: Zero Shot Deformation Reconstruction for Soft Robo…

3D Gaussian Splatting (GS) is one of the most promising novel 3D representations that has received great interest in computer graphics and computer vision. While various systems have introduced editing capabilities for 3D GS, such as those…

Recent years have seen the development of mature solutions for reconstructing deformable surfaces from a single image, provided that they are relatively well-textured. By contrast, recovering the 3D shape of texture-less surfaces remains an…

While gesture recognition using vision or robot skins is an active research area in Human-Robot Collaboration (HRC), this paper explores deep learning methods relying solely on a robot's built-in joint sensors, eliminating the need for…

Zero-shot denoising aims to denoise observations without access to training samples or clean reference images. This setting is particularly relevant in practical imaging scenarios involving specialized domains such as medical imaging or…

This paper introduces GET-Zero, a model architecture and training procedure for learning an embodiment-aware control policy that can immediately adapt to new hardware changes without retraining. To do so, we present Graph Embodiment…

Zero-shot learning is a learning regime that recognizes unseen classes by generalizing the visual-semantic relationship learned from the seen classes. To obtain an effective ZSL model, one may resort to curating training samples from…

In this paper, we present the TacShade a newly designed 3D-printed soft optical tactile sensor. The sensor is developed for shape reconstruction under the inspiration of sketch drawing that uses the density of sketch lines to draw light and…

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…

In Minimally Invasive Surgery (MIS), tissue scanning with imaging probes is required for subsurface visualisation to characterise the state of the tissue. However, scanning of large tissue surfaces in the presence of deformation is a…

Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenarios requires advanced sensing for tactile feedback and…

Soft robotics have gained increased attention from the robotic community due to their unique features such as compliance and human safety. Impressive amount of soft robotic prototypes have shown their superior performance over their rigid…

With the recent renaissance of deep convolution neural networks, encouraging breakthroughs have been achieved on the supervised recognition tasks, where each class has sufficient training data and fully annotated training data. However, to…

Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…

Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invasive surgery. However, the inherent deformability of soft…

Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…

This paper is concerned with the problem of estimating (interpolating and smoothing) the shape (pose and the six modes of deformation) of a slender flexible body from multiple camera measurements. This problem is important in both biology,…

Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…

Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…

This paper presents a biomechanically interpretable framework for gait analysis using 3D human reconstruction from video data. Unlike conventional keypoint based approaches, the proposed method extracts biomechanically meaningful markers…

Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…