Related papers: Perceptually Lossless Tactile Texture Synthesis wi…
The GelSight-like visual tactile (VT) sensor has gained popularity as a high-resolution tactile sensing technology for robots, capable of measuring touch geometry using a single RGB camera. However, the development of multi-modal perception…
Tactile texture refers to the tangible feel of a surface and visual texture refers to see the shape or contents of the image. In the image processing, the texture can be defined as a function of spatial variation of the brightness intensity…
Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…
Deep learning and reinforcement learning methods have been shown to enable learning of flexible and complex robot controllers. However, the reliance on large amounts of training data often requires data collection to be carried out in…
Though Gaussian splatting has achieved impressive results in novel view synthesis, it requires millions of primitives to model highly textured scenes, even when the geometry of the scene is simple. We propose a representation that goes…
Existing unconditional generative models mainly focus on modeling general objects, such as faces and indoor scenes. Fashion textures, another important type of visual elements around us, have not been extensively studied. In this work, we…
Despite remarkable advances in video generative models, they still struggle to generate physically realistic videos, frequently exhibiting appearance drift, implausible motion, and temporal inconsistencies. In this work, we address this…
Recent works with an implicit neural function shed light on representing images in arbitrary resolution. However, a standalone multi-layer perceptron shows limited performance in learning high-frequency components. In this paper, we propose…
Ultrasound midair haptics (UMH) can present non-contact tactile stimuli using focused ultrasound without any wearables. Recently, UMH has been shown to present not only conventional vibration stimulus but also static pressure stimulus by…
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
Flexible tactile sensors are increasingly used in real-world applications such as robotic grippers, prosthetic hands, wearable gloves, and assistive devices, where they need to conform to curved and irregular surfaces. However, most…
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…
Simulation is a widely used tool in robotics to reduce hardware consumption and gather large-scale data. Despite previous efforts to simulate optical tactile sensors, there remain challenges in efficiently synthesizing images and…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Recent advances in generative modeling have driven significant progress in text-guided texture synthesis. However, current methods focus on synthesizing texture for single static 3D object, and struggle to handle entire families of shapes,…
Haptic technology enhances interactive experiences by providing force and tactile feedback, improving user performance and immersion. However, despite advancements, creating tactile experiences still remains challenging due to device…
We propose a graph spectral representation of time series data that 1) is parsimoniously encoded to user-demanded resolution; 2) is unsupervised and performant in data-constrained scenarios; 3) captures event and event-transition structure…
Robotic palpation relies on force sensing, but force signals in soft-tissue environments are variable and cannot reliably reveal subtle subsurface features. We present a compact multimodal sensor that integrates high-resolution vision-based…
A noncontact tactile stimulus can be presented by focusing airborne ultrasound on the human skin. Focused ultrasound has recently been reported to produce not only vibration but also static pressure sensation on the palm by modulating the…
Recently, methods have been proposed that perform texture synthesis and style transfer by using convolutional neural networks (e.g. Gatys et al. [2015,2016]). These methods are exciting because they can in some cases create results with…