相关论文: Neural Contact Fields: Tracking Extrinsic Contact …

In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, 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…

The connection between visual input and tactile sensing is critical for object manipulation tasks such as grasping and pushing. In this work, we introduce the challenging task of estimating a set of tactile physical properties from visual…

General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…

Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…

Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…

Mastering dexterous, contact-rich object manipulation demands precise estimation of both in-hand object poses and external contact locations$\unicode{x2013}$tasks particularly challenging due to partial and noisy observations. We present…

In this paper, we introduce a new method for the task of interaction transfer. Given an example interaction between a source object and an agent, our method can automatically infer both surface and spatial relationships for the agent and…

In this paper, we present an approach to tactile pose estimation from the first touch for known objects. First, we create an object-agnostic map from real tactile observations to contact shapes. Next, for a new object with known geometry,…

Humans leverage multiple sensor modalities when interacting with objects and discovering their intrinsic properties. Using the visual modality alone is insufficient for deriving intuition behind object properties (e.g., which of two boxes…

Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…

This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…

Visual relationship detection aims to detect the interactions between objects in an image; however, this task suffers from combinatorial explosion due to the variety of objects and interactions. Since the interactions associated with the…

We address the problem of generating realistic 3D motions of humans interacting with objects in a scene. Our key idea is to create a neural interaction field attached to a specific object, which outputs the distance to the valid interaction…

In this work we target a learnable output representation that allows continuous, high resolution outputs of arbitrary shape. Recent works represent 3D surfaces implicitly with a Neural Network, thereby breaking previous barriers in…

Extrinsic manipulation, the use of environment contacts to achieve manipulation objectives, enables strategies that are otherwise impossible with a parallel jaw gripper. However, orchestrating a long-horizon sequence of contact interactions…

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…

Modeling hand-object interactions is a fundamentally challenging task in 3D computer vision. Despite remarkable progress that has been achieved in this field, existing methods still fail to synthesize the hand-object interaction…

We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact region is a planar non-convex contact patch. Such methods are useful in planning and…

Generalizing tool manipulation requires both semantic planning and precise physical control. Modern generalist robot policies, such as Vision-Language-Action (VLA) models, often lack the physical grounding required for contact-rich tool…