相关论文: Low Fidelity Visuo-Tactile Pretraining Improves Vi…

This paper proposes Tac2Motion, a contact-aware reinforcement learning framework to facilitate the learning of contact-rich in-hand manipulation tasks, such as removing a lid. To this end, we propose tactile sensing-based reward shaping and…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

Deep learning and reinforcement learning methods have been shown to enable learning of flexible and complex robot controllers. However, the reliance on large amounts of training data often requires data collection to be carried out in…

The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic…

Pre-training has marked numerous state of the arts in high-level computer vision, while few attempts have ever been made to investigate how pre-training acts in image processing systems. In this paper, we tailor transformer-based…

The integration of visual-tactile stimulus is common while humans performing daily tasks. In contrast, using unimodal visual or tactile perception limits the perceivable dimensionality of a subject. However, it remains a challenge to…

Almost all the state-of-the-art neural networks for computer vision tasks are trained by (1) pre-training on a large-scale dataset and (2) finetuning on the target dataset. This strategy helps reduce dependence on the target dataset and…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…

Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…

Combining 3D vision with tactile sensing could unlock a greater level of dexterity for robots and improve several manipulation tasks. However, obtaining a close-up 3D view of the location where manipulation contacts occur can be…

Tactile sensing plays a vital role in enabling robots to perform fine-grained, contact-rich tasks. However, the high dimensionality of tactile data, due to the large coverage on dexterous hands, poses significant challenges for effective…

Tactile perception plays an important role in medical simulation and training, specifically in surgery. The surgeon must feel organic tissue hardness, evaluate anatomical structures, measure tissue properties, and apply appropriate force…

Temporal Activity Detection aims to predict activity classes per frame, in contrast to video-level predictions in Activity Classification (i.e., Activity Recognition). Due to the expensive frame-level annotations required for detection, the…

Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…

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.…

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…

Vision-based Transformer have shown huge application in the perception module of autonomous driving in terms of predicting accurate 3D bounding boxes, owing to their strong capability in modeling long-range dependencies between the visual…

Acquiring aligned visuo-tactile datasets is slow and costly, requiring specialised hardware and large-scale data collection. Synthetic generation is promising, but prior methods are typically single-modality, limiting cross-modal learning.…

Can a small amount of verified goal information steer the expensive self-supervised pretraining of foundation models? Standard pretraining optimizes a fixed proxy objective (e.g., next-token prediction), which can misallocate compute away…

A high-precision manipulation task, such as needle threading, is challenging. Physiological studies have proposed connecting low-resolution peripheral vision and fast movement to transport the hand into the vicinity of an object, and using…