相关论文: Learning Intuitive Physics with Multimodal Generat…

The biological skin enables animals to sense various stimuli. Extensive efforts have been made recently to develop smart skin-like sensors to extend the capabilities of biological skins; however, simultaneous sensing of several types of…

This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…

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…

Recent advances in machine learning, particularly deep learning, have enabled autonomous systems to perceive and comprehend objects and their environments in a perceptual subsymbolic manner. These systems can now perform object detection,…

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,…

Estimating physical properties is critical for safe and efficient autonomous robotic manipulation, particularly during contact-rich interactions. In such settings, vision and tactile sensing provide complementary information about object…

Rich haptic sensory feedback in response to user interactions is desirable for an effective, immersive virtual reality or teleoperation system. However, this feedback depends on material properties and user interactions in a complex,…

To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…

Humans perceive the world using multi-modal sensory inputs such as vision, audition, and touch. In this work, we investigate the cross-modal connection between vision and touch. The main challenge in this cross-domain modeling task lies in…

This paper presents a novel framework for integration of vision and tactile sensing by localizing tactile readings in a visual object map. Intuitively, there are some correspondences, e.g., prominent features, between visual and tactile…

Temporal prediction is critical for making intelligent and robust decisions in complex dynamic environments. Motion prediction needs to model the inherently uncertain future which often contains multiple potential outcomes, due to…

Collaborative object localization aims to collaboratively estimate locations of objects observed from multiple views or perspectives, which is a critical ability for multi-agent systems such as connected vehicles. To enable collaborative…

Humans understand and interact with the real world by relying on diverse physical feedback beyond visual perception. Motivated by this, recent approaches attempt to incorporate physical sensory signals into Vision-Language-Action models…

This work contributes an event-driven visual-tactile perception system, comprising a novel biologically-inspired tactile sensor and multi-modal spike-based learning. Our neuromorphic fingertip tactile sensor, NeuTouch, scales well with the…

Sensory substitution enables biological systems to perceive stimuli that are typically perceived by another organ, which is inspirational for physical agents. Multimodal perception of intrinsic and extrinsic interactions is critical in…

Tactile sensing is a fundamental modality for embodied intelligence, offering unique and direct feedback on contact geometry, material properties, and interaction dynamics that remote sensors cannot replace. However, unimodal tactile…

Autonomous vehicles (AVs) rely on multi-modal fusion for safety, but current visual and optical sensors fail to detect road-induced excitations which are critical for vehicles' dynamic control. Inspired by human synesthesia, we propose the…

The field of robotic manipulation has advanced significantly in recent years. At the sensing level, several novel tactile sensors have been developed, capable of providing accurate contact information. On a methodological level, learning…

We focus on the task of future frame prediction in video governed by underlying physical dynamics. We work with models which are object-centric, i.e., explicitly work with object representations, and propagate a loss in the latent space.…

Humans have impressive generalization capabilities when it comes to manipulating objects and tools in completely novel environments. These capabilities are, at least partially, a result of humans having internal models of their bodies and…