相关论文: Analysing the Interplay of Vision and Touch for De…

In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…

Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's…

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…

Achieving robust dexterous manipulation in unstructured domestic environments remains a significant challenge in robotics. Even with state-of-the-art robot learning methods, haptic-oblivious control strategies (i.e. those relying only on…

Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…

Humans usually perceive the world in a multimodal way that vision, touch, sound are utilised to understand surroundings from various dimensions. These senses are combined together to achieve a synergistic effect where the learning is more…

In this paper we address the challenge of exploration in deep reinforcement learning for robotic manipulation tasks. In sparse goal settings, an agent does not receive any positive feedback until randomly achieving the goal, which becomes…

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…

Bimanual manipulation with tactile feedback will be key to human-level robot dexterity. However, this topic is less explored than single-arm settings, partly due to the availability of suitable hardware along with the complexity of…

Tactile information is a critical tool for dexterous manipulation. As humans, we rely heavily on tactile information to understand objects in our environments and how to interact with them. We use touch not only to perform manipulation…

Embodied intelligence has advanced rapidly in recent years; however, bimanual manipulation-especially in contact-rich tasks remains challenging. This is largely due to the lack of datasets with rich physical interaction signals, systematic…

Tactile information plays a critical role in human dexterity. It reveals useful contact information that may not be inferred directly from vision. In fact, humans can even perform in-hand dexterous manipulation without using vision. Can we…

Teaching dexterity to multi-fingered robots has been a longstanding challenge in robotics. Most prominent work in this area focuses on learning controllers or policies that either operate on visual observations or state estimates derived…

In-hand pivoting is one of the important manipulation skills that leverage robot grippers' extrinsic dexterity to perform repositioning tasks to compensate for environmental uncertainties and imprecise motion execution. Although many…

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…

Robotic manipulation tasks such as inserting a key into a lock or plugging a USB device into a port can fail when visual perception is insufficient to detect misalignment. In these situations, touch sensing is crucial for the robot to…

Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…

Perception is essential for the active interaction of physical agents with the external environment. The integration of multiple sensory modalities, such as touch and vision, enhances this perceptual process, creating a more comprehensive…

A successful grasp requires careful balancing of the contact forces. Deducing whether a particular grasp will be successful from indirect measurements, such as vision, is therefore quite challenging, and direct sensing of contacts through…

Performing a large volume of experiments in Chemistry labs creates repetitive actions costing researchers time, automating these routines is highly desirable. Previous experiments in robotic chemistry have performed high numbers of…