相关论文: Multimodal Zero-Shot Learning for Tactile Texture …

Recently, zero-shot learning (ZSL) has received increasing interest. The key idea underpinning existing ZSL approaches is to exploit knowledge transfer via an intermediate-level semantic representation which is assumed to be shared between…

Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…

Optical tactile sensors play a pivotal role in robot perception and manipulation tasks. The membrane of these sensors can be painted with markers or remain markerless, enabling them to function in either marker or markerless mode. However,…

Zero-shot learning aims to classify visual objects without any training data via knowledge transfer between seen and unseen classes. This is typically achieved by exploring a semantic embedding space where the seen and unseen classes can be…

Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sensing offers complementary information to vision and can…

We present a deep generative model for learning to predict classes not seen at training time. Unlike most existing methods for this problem, that represent each class as a point (via a semantic embedding), we represent each seen/unseen…

We present a meta-learning based generative model for zero-shot learning (ZSL) towards a challenging setting when the number of training examples from each \emph{seen} class is very few. This setup contrasts with the conventional ZSL…

Recently, zero-shot learning (ZSL) emerged as an exciting topic and attracted a lot of attention. ZSL aims to classify unseen classes by transferring the knowledge from seen classes to unseen classes based on the class description. Despite…

Robotic manipulation requires both rich multimodal perception and effective learning frameworks to handle complex real-world tasks. See-through-skin (STS) sensors, which combine tactile and visual perception, offer promising sensing…

Zero-shot learning (ZSL) aims at recognizing unseen class examples (e.g., images) with knowledge transferred from seen classes. This is typically achieved by exploiting a semantic feature space shared by both seen and unseen classes, e.g.,…

Tactile sensing is crucial in robotics and wearable devices for safe perception and interaction with the environment. Optical tactile sensors have emerged as promising solutions, as they are immune to electromagnetic interference and have…

Robots engaged in complex manipulation tasks require robust material property recognition to ensure adaptability and precision. Traditionally, visual data has been the primary source for object perception; however, it often proves…

Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between robotic embodiments in the context of collaborative…

Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and…

In this paper, we propose a novel framework for tactile-based dexterous manipulation learning with a blind anthropomorphic robotic hand, i.e. without visual sensing. First, object-related states were extracted from the raw tactile signals…

Visual recognition of materials and their states is essential for understanding the physical world, from identifying wet regions on surfaces or stains on fabrics to detecting infected areas on plants or minerals in rocks. Collecting data…

Zero-shot recognition (ZSR) deals with the problem of predicting class labels for target domain instances based on source domain side information (e.g. attributes) of unseen classes. We formulate ZSR as a binary prediction problem. Our…

Zero-shot learning (ZSL) is a framework to classify images belonging to unseen classes based on solely semantic information about these unseen classes. In this paper, we propose a new ZSL algorithm using coupled dictionary learning. The…

Simulating tactile perception could potentially leverage the learning capabilities of robotic systems in manipulation tasks. However, the reality gap of simulators for high-resolution tactile sensors remains large. Models trained on…

Zero-shot recognition (ZSR) aims to recognize target-domain data instances of unseen classes based on the models learned from associated pairs of seen-class source and target domain data. One of the key challenges in ZSR is the relative…