相关论文: Active Extrinsic Contact Sensing: Application to G…

Industrial insertion tasks are often performed repetitively with parts that are subject to tight tolerances and prone to breakage. Learning an industrial insertion policy in real is challenging as the collision between the parts and the…

We present a policy search method for learning complex feedback control policies that map from high-dimensional sensory inputs to motor torques, for manipulation tasks with discontinuous contact dynamics. We build on a prior technique…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

Picking up transparent objects is still a challenging task for robots. The visual properties of transparent objects such as reflection and refraction make the current grasping methods that rely on camera sensing fail to detect and localise…

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.…

This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher…

Robots that assist humans will need to interact with articulated objects such as cabinets or microwaves. Early work on creating systems for doing so used proprioceptive sensing to estimate joint mechanisms during contact. However, nowadays,…

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…

Physical contact between hands and objects plays a critical role in human grasps. We show that optimizing the pose of a hand to achieve expected contact with an object can improve hand poses inferred via image-based methods. Given a hand…

Active Inference is a closed-loop computational theoretical basis for understanding behaviour, based on agents with internal probabilistic generative models that encode their beliefs about how hidden states in their environment cause their…

Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…

This paper presents a wearable electrotactile feedback system to enhance contact information for mid-air interactions with virtual objects. In particular, we propose the use of electrotactile feedback to render the interpenetration distance…

Humans naturally exploit haptic feedback during contact-rich tasks like loading a dishwasher or stocking a bookshelf. Current robotic systems focus on avoiding unexpected contact, often relying on strategically placed environment sensors.…

Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…

Selecting out-of-reach objects is a fundamental task in mixed reality (MR). Existing methods rely on a single cue or deterministically fuse multiple cues, leading to performance degradation when the dominant cue becomes unreliable. In this…

Continuous in-hand manipulation is an important physical interaction skill, where tactile sensing provides indispensable contact information to enable dexterous manipulation of small objects. This work proposed a framework for end-to-end…

Frictional contact has been extensively studied as the core underlying behavior of legged locomotion and manipulation, and its nearly-discontinuous nature makes planning and control difficult even when an accurate model of the robot is…

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…

3D hand-object pose estimation is the key to the success of many computer vision applications. The main focus of this task is to effectively model the interaction between the hand and an object. To this end, existing works either rely on…

We study the problem of learning a generalizable action policy for an intelligent agent to actively approach an object of interest in an indoor environment solely from its visual inputs. While scene-driven or recognition-driven visual…