相关论文: Attention for Robot Touch: Tactile Saliency Predic…

Saliency modeling has been an active research area in computer vision for about two decades. Existing state of the art models perform very well in predicting where people look in natural scenes. There is, however, the risk that these models…

Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world…

We introduce models for saliency prediction for mobile user interfaces. A mobile interface may include elements like buttons, text, etc. in addition to natural images which enable performing a variety of tasks. Saliency in natural images is…

As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…

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.…

A fundamental bottleneck in utilising complex machine learning systems for critical applications has been not knowing why they do and what they do, thus preventing the development of any crucial safety protocols. To date, no method exist…

Incorporating human-perceptual intelligence into model training has shown to increase the generalization capability of models in several difficult biometric tasks, such as presentation attack detection (PAD) and detection of synthetic…

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…

In saliency detection, every pixel needs contextual information to make saliency prediction. Previous models usually incorporate contexts holistically. However, for each pixel, usually only part of its context region is useful and…

Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other…

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,…

For both humans and robots, the sense of touch, known as tactile sensing, is critical for performing contact-rich manipulation tasks. Three key challenges in robotic tactile sensing are 1) interpreting sensor signals, 2) generating sensor…

Saliency prediction is a well studied problem in computer vision. Early saliency models were based on low-level hand-crafted feature derived from insights gained in neuroscience and psychophysics. In the wake of deep learning breakthrough,…

Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…

To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, such spatial awareness involves estimating the object's pose…

Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…

Tactile sensing is of great importance during human hand usage such as object exploration, grasping and manipulation. Different types of tactile sensors have been designed during the past decades, which are mainly focused on either the…

We introduce a saliency-based distortion layer for convolutional neural networks that helps to improve the spatial sampling of input data for a given task. Our differentiable layer can be added as a preprocessing block to existing task…

Incorporating human domain knowledge for breast tumor diagnosis is challenging, since shape, boundary, curvature, intensity, or other common medical priors vary significantly across patients and cannot be employed. This work proposes a new…