Related papers: Seeing Through Touch: Tactile-Driven Visual Locali…
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…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
In this work, we propose a novel method to supervise 3D Gaussian Splatting (3DGS) scenes using optical tactile sensors. Optical tactile sensors have become widespread in their use in robotics for manipulation and object representation;…
To have a robot actively supporting a human during a collaborative task, it is crucial that robots are able to identify the current action in order to predict the next one. Common approaches make use of high-level knowledge, such as object…
Recently, tactile sensing has attracted great interest in robotics, especially for facilitating exploration of unstructured environments and effective manipulation. A detailed understanding of the surface textures via tactile sensing is…
Knowledge of the 6D pose of an object can benefit in-hand object manipulation. In-hand 6D object pose estimation is challenging because of heavy occlusion produced by the robot's grippers, which can have an adverse effect on methods that…
Detecting and segmenting individual objects, regardless of their category, is crucial for many applications such as action detection or robotic interaction. While this problem has been well-studied under the classic formulation of…
Tactile graphics are essential for providing access to visual information for the 43 million people globally living with vision loss. Traditional methods for creating these graphics are labor-intensive and cannot meet growing demand. We…
Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…
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…
Spatial tactile feedback can enhance the realism of geometry exploration in virtual reality applications. Current vibrotactile approaches often face challenges with the spatial and temporal resolution needed to render different 3D…
We present Neural Contact Fields, a method that brings together neural fields and tactile sensing to address the problem of tracking extrinsic contact between object and environment. Knowing where the external contact occurs is a first step…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Textured meshes significantly enhance the realism and detail of objects by mapping intricate texture details onto the geometric structure of 3D models. This advancement is valuable across various applications, including entertainment,…
Visual localization to compute 6DoF camera pose from a given image has wide applications such as in robotics, virtual reality, augmented reality, etc. Two kinds of descriptors are important for the visual localization. One is global…
Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…
The explosive growth of digital images and the widespread availability of image editing tools have made image manipulation detection an increasingly critical challenge. Current deep learning-based manipulation detection methods excel in…
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured due to occlusions and partial observables. For example,…
This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the…