相关论文: TactileAR: Active Tactile Pattern Reconstruction
Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…
We investigate the transduction of tactile information during active exploration of finely textured surfaces using a novel tactile sensor mimicking the human fingertip. The sensor has been designed by integrating a linear array of 10…
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acquiring useful tactile data remains challenging due to the…
Handheld paradigms offer an efficient and intuitive way for collecting large-scale demonstration of robot manipulation. However, achieving contact-rich bimanual manipulation through these methods remains a pivotal challenge, which is…
Reconstructing dynamic hand-object contacts is essential for realistic manipulation in AI character animation, XR, and robotics, yet it remains challenging due to heavy occlusions, complex surface details, and limitations in existing…
Touch and vision go hand in hand, mutually enhancing our ability to understand the world. From a research perspective, the problem of mixing touch and vision is underexplored and presents interesting challenges. To this end, we propose…
High-resolution optical tactile sensors are increasingly used in robotic learning environments due to their ability to capture large amounts of data directly relating to agent-environment interaction. However, there is a high barrier of…
Tactile exploration plays a crucial role in understanding object structures for fundamental robotics tasks such as grasping and manipulation. However, efficiently exploring such objects using tactile sensors is challenging, primarily due to…
3D Gaussian Splatting offers expressive scene reconstruction, modeling a broad range of visual, geometric, and semantic information. However, efficient real-time map reconstruction with data streamed from multiple robots and devices remains…
The missing signal caused by the objects being occluded or an unstable sensor is a common challenge during data collection. Such missing signals will adversely affect the results obtained from the data, and this issue is observed more…
Surgical scene understanding in Robot-assisted Minimally Invasive Surgery (RMIS) is highly reliant on visual cues and lacks tactile perception. Force-modulated surgical palpation with tactile feedback is necessary for localization,…
Reconstructing 3D human-object interaction (HOI) from single-view RGB images is challenging due to the absence of depth information and potential occlusions. Existing methods simply predict the body poses merely rely on network training on…
Reconstructing hand-held objects from monocular RGB images is an appealing yet challenging task. In this task, contacts between hands and objects provide important cues for recovering the 3D geometry of the hand-held objects. Though recent…
Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also accounting for the motion induced by the interaction. In this…
We address the problem of tactile localization, where the goal is to identify image regions that share the same material properties as a tactile input. Existing visuo-tactile methods rely on global alignment and thus fail to capture the…
We introduce GEOTACT, the first robotic system capable of grasping and retrieving objects of potentially unknown shapes buried in a granular environment. While important in many applications, ranging from mining and exploration to search…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
Magnetic-based tactile sensors (MBTS) combine the advantages of compact design and high-frequency operation but suffer from limited spatial resolution due to their sparse taxel arrays. This paper proposes SuperMag, a tactile shape…
Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…