相关论文: Touch attention Bayesian models for robotic active…

Physical interaction between humans and robots can help robots learn to perform complex tasks. The robot arm gains information by observing how the human kinesthetically guides it throughout the task. While prior works focus on how the…

For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…

Analyzing interaction data provides an opportunity to learn about users, uncover their underlying goals, and create intelligent visualization systems. The first step for intelligent response in visualizations is to enable computers to infer…

Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…

We introduce an imitation learning-based physical human-robot interaction algorithm capable of predicting appropriate robot responses in complex interactions involving a superposition of multiple interactions. Our proposed algorithm,…

Sufficiently perceiving the environment is a critical factor in robot motion generation. Although the introduction of deep visual processing models have contributed in extending this ability, existing methods lack in the ability to actively…

We propose a fully automatic method for learning gestures on big touch devices in a potentially multi-user context. The goal is to learn general models capable of adapting to different gestures, user styles and hardware variations (e.g.…

Robot touch can benefit from how humans perceive tactile textural information, from the stimulation mode to which tactile channels respond, then the tactile cues and encoding. Using a soft biomimetic tactile sensor (the TacTip) based on the…

Estimation of tactile properties from vision, such as slipperiness or roughness, is important to effectively interact with the environment. These tactile properties help us decide which actions we should choose and how to perform them.…

Advancements in surface haptics technology have given rise to the development of interactive applications displaying tactile content on touch surfaces such as images, signs, diagrams, plots, charts, graphs, maps, networks, and tables. In…

Together with the rapid development of the Internet of Things (IoT), human activity recognition (HAR) using wearable Inertial Measurement Units (IMUs) becomes a promising technology for many research areas. Recently, deep learning-based…

Interactive exploration of the unknown physical properties of objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…

Tracking moving objects is a critical skill for many everyday tasks, such as crossing a busy street, driving a car or catching a ball. Attention is a key cognitive function that supports object tracking; however, our understanding of the…

Visual affordance segmentation identifies the surfaces of an object an agent can interact with. Common challenges for the identification of affordances are the variety of the geometry and physical properties of these surfaces as well as…

Human vision is naturally more attracted by some regions within their field of view than others. This intrinsic selectivity mechanism, so-called visual attention, is influenced by both high- and low-level factors; such as the global…

For humans, the process of grasping an object relies heavily on rich tactile feedback. Most recent robotic grasping work, however, has been based only on visual input, and thus cannot easily benefit from feedback after initiating contact.…

Recent advances in attention-based multiple instance learning (MIL) have improved our insights into the tissue regions that models rely on to make predictions in digital pathology. However, the interpretability of these approaches is still…

The tactile sensing capabilities of human hands are essential in performing daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated into the hands enables humans to achieve daily tasks like…

The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…

We propose a novel attention model that can accurately attends to target objects of various scales and shapes in images. The model is trained to gradually suppress irrelevant regions in an input image via a progressive attentive process…