Related papers: Seeing Through Touch: Tactile-Driven Visual Locali…
Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…
Image segmentation has long been a basic problem in computer vision. Depth-wise Layering is a kind of segmentation that slices an image in a depth-wise sequence unlike the conventional image segmentation problems dealing with surface-wise…
Visual perception is an effective way to obtain the spatial characteristics of wireless channels and to reduce the overhead for communications system. A critical problem for the visual assistance is that the communications system needs to…
Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot…
Equipping multi-fingered robots with tactile sensing is crucial for achieving the precise, contact-rich, and dexterous manipulation that humans excel at. However, relying solely on tactile sensing fails to provide adequate cues for…
Interactive segmentation algorithms based on click points have garnered significant attention from researchers in recent years. However, existing studies typically use sparse click maps as model inputs to segment specific target objects,…
In this study, we address the intricate challenge of multi-task dense prediction, encompassing tasks such as semantic segmentation, depth estimation, and surface normal estimation, particularly when dealing with partially annotated data…
Deep generative models have various content creation applications such as graphic design, e-commerce, and virtual Try-on. However, current works mainly focus on synthesizing realistic visual outputs, often ignoring other sensory modalities,…
Existing semi-supervised video object segmentation methods either focus on temporal feature matching or spatial-temporal feature modeling. However, they do not address the issues of sufficient target interaction and efficient parallel…
The problem of 3D object recognition is of immense practical importance, with the last decade witnessing a number of breakthroughs in the state of the art. Most of the previous work has focused on the matching of textured objects using…
Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…
For contact-intensive tasks, the ability to generate policies that produce comprehensive tactile-aware motions is essential. However, existing data collection and skill learning systems for dexterous manipulation often suffer from…
Visual grounding is a task to locate the target indicated by a natural language expression. Existing methods extend the generic object detection framework to this problem. They base the visual grounding on the features from pre-generated…
In this paper, we present Tac2Pose, an object-specific approach to tactile pose estimation from the first touch for known objects. Given the object geometry, we learn a tailored perception model in simulation that estimates a probability…
Training machine learning models for robotic tactile sensing requires vast amounts of data, yet obtaining realistic interaction data remains a challenge due to physical complexity and variability. Simulating tactile sensors is thus a…
Region-based artificial attention constitutes a framework for bio-inspired attentional processes on an intermediate abstraction level for the use in computer vision and mobile robotics. Segmentation algorithms produce regions of coherently…
People with visual impairments face numerous challenges when interacting with their environment. Our objective is to develop a device that facilitates communication between individuals with visual impairments and their surroundings. The…
Embodied intelligence has advanced rapidly in recent years; however, bimanual manipulation-especially in contact-rich tasks remains challenging. This is largely due to the lack of datasets with rich physical interaction signals, systematic…
Inspired by the human ability to perform complex manipulation in the complete absence of vision (like retrieving an object from a pocket), the robotic manipulation field is motivated to develop new methods for tactile-based object…