相关论文: Learning In-Hand Translation Using Tactile Skin Wi…

Object insertion is a classic contact-rich manipulation task. The task remains challenging, especially when considering general objects of unknown geometry, which significantly limits the ability to understand the contact configuration…

In-hand manipulation with multi-fingered hands is a challenging problem that recently became feasible with the advent of deep reinforcement learning methods. While most contributions to the task brought improvements in robustness and…

Tactile sensing is crucial for robotic hands to achieve human-level dexterous manipulation, especially in scenarios with visual occlusion. However, its application is often hindered by the difficulty of collecting large-scale real-world…

Vision-based tactile sensors (VBTSs) provide high-resolution tactile images crucial for robot in-hand manipulation. However, force sensing in VBTSs is underutilized due to the costly and time-intensive process of acquiring paired tactile…

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…

Reproducing the capabilities of the human sense of touch in machines is an important step in enabling robot manipulation to have the ease of human dexterity. A combination of robotic technologies will be needed, including soft robotics,…

Compared to rigid hands, underactuated compliant hands offer greater adaptability to object shapes, provide stable grasps, and are often more cost-effective. However, they introduce uncertainties in hand-object interactions due to their…

Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors…

Camera-based tactile sensors are emerging as a promising inexpensive solution for tactile-enhanced manipulation tasks. A recently introduced FingerVision sensor was shown capable of generating reliable signals for force estimation, object…

For contact-intensive tasks, the ability to generate policies that produce comprehensive tactile-aware motions is essential. However, existing data collection and skill learning systems for dexterous manipulation often suffer from…

Tactile representation learning (TRL) equips robots with the ability to leverage touch information, boosting performance in tasks such as environment perception and object manipulation. However, the heterogeneity of tactile sensors results…

Human skin provides a rich tactile sensing stream, localizing intentional and unintentional contact events over a large and contoured region. Replicating these tactile sensing capabilities for dexterous robotic manipulation systems remains…

The use of data-driven techniques for tactile data processing and classification has recently increased. However, collecting tactile data is a time-expensive and sensor-specific procedure. Indeed, due to the lack of hardware standards in…

Rapid deployment of new tactile sensors is essential for scalable robotic manipulation, especially in multi-fingered hands equipped with vision-based tactile sensors. However, current methods for inferring contact properties rely heavily on…

The tactile sensing capabilities of human hands are essential in performing daily activities. Simultaneously perceiving normal and shear forces via the mechanoreceptors integrated into the hands enables humans to achieve daily tasks like…

Training robots with reinforcement learning (RL) typically involves heavy interactions with the environment, and the acquired skills are often sensitive to changes in task environments and robot kinematics. Transfer RL aims to leverage…

Artificial touch would seem well-suited for Reinforcement Learning (RL), since both paradigms rely on interaction with an environment. Here we propose a new environment and set of tasks to encourage development of tactile reinforcement…

The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…

Tactile sensing plays an irreplaceable role in robotic material recognition. It enables robots to distinguish material properties such as their local geometry and textures, especially for materials like textiles. However, most tactile…

The sense of touch is fundamental to human dexterity. When mimicked in robotic touch, particularly by use of soft optical tactile sensors, it suffers from distortion due to motion-dependent shear. This complicates tactile tasks like shape…