相关论文: Tactile Object Pose Estimation from the First Touc…

This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation is derived using a novel declutter graph (DG) which…

Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that gets transmitted through its sense of touch. Among the…

Grasping is natural for humans. However, it involves complex hand configurations and soft tissue deformation that can result in complicated regions of contact between the hand and the object. Understanding and modeling this contact can…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

Detecting poorly textured objects and estimating their 3D pose reliably is still a very challenging problem. We introduce a simple but powerful approach to computing descriptors for object views that efficiently capture both the object…

Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…

In this paper, we introduce neural texture learning for 6D object pose estimation from synthetic data and a few unlabelled real images. Our major contribution is a novel learning scheme which removes the drawbacks of previous works, namely…

Tactile perception is important for robotic systems that interact with the world through touch. Touch is an active sense in which tactile measurements depend on the contact properties of an interaction--e.g., velocity, force,…

We introduce a novel 3D hand pose estimator that can accurately recover the shape and pose of people's hands in a room from afar, typically from fixed cameras at room corners, in extremely low-resolution and frequently occluded views. Our…

Across a plethora of social situations, we touch others in natural and intuitive ways to share thoughts and emotions, such as tapping to get one's attention or caressing to soothe one's anxiety. A deeper understanding of these…

Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust model that maps tactile sensor signals to force. We…

The perception and recognition of the surroundings is one of the essential tasks for a robot. With preliminary knowledge about a target object, it can perform various manipulation tasks such as rolling motion, palpation, and force control.…

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…

Accurate object pose estimation using multi-modal perception such as visual and tactile sensing have been used for autonomous robotic manipulators in literature. Due to variation in density of visual and tactile data, a novel probabilistic…

We propose an approach to estimating the 3D pose of a hand, possibly handling an object, given a depth image. We show that we can correct the mistakes made by a Convolutional Neural Network trained to predict an estimate of the 3D pose by…

Human has an incredible ability to effortlessly perceive the viewpoint difference between two images containing the same object, even when the viewpoint change is astonishingly vast with no co-visible regions in the images. This remarkable…

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…

The importance of force perception in interacting with the environment was proven years ago. However, it is still a challenge to measure the contact force distribution accurately in real-time. In order to break through this predicament, we…

Humans rely on their visual and tactile senses to develop a comprehensive 3D understanding of their physical environment. Recently, there has been a growing interest in exploring and manipulating objects using data-driven approaches that…

Recent advances in the field of intelligent robotic manipulation pursue providing robotic hands with touch sensitivity. Haptic perception encompasses the sensing modalities encountered in the sense of touch (e.g., tactile and kinesthetic…