相关论文: Adaptive Visuo-Tactile Fusion with Predictive Forc…

Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprioceptive sensor…

Recently, mobile manipulation has attracted increasing attention for enabling language-conditioned robotic control in household tasks. However, existing methods still face challenges in coordinating mobile base and manipulator, primarily…

Multi-sensor modal fusion has demonstrated strong advantages in 3D object detection tasks. However, existing methods that fuse multi-modal features require transforming features into the bird's eye view space and may lose certain…

Cross-modal transfer learning is used to improve multi-modal classification models (e.g., for human activity recognition in human-robot collaboration). However, existing methods require paired sensor data at both training and inference,…

Although human action anticipation is a task which is inherently multi-modal, state-of-the-art methods on well known action anticipation datasets leverage this data by applying ensemble methods and averaging scores of unimodal anticipation…

Humans inherently possess generalizable visual representations that empower them to efficiently explore and interact with the environments in manipulation tasks. We advocate that such a representation automatically arises from…

Multi-sensor fusion is essential for accurate 3D object detection in self-driving systems. Camera and LiDAR are the most commonly used sensors, and usually, their fusion happens at the early or late stages of 3D detectors with the help of…

Intelligent agents must be able to think fast and slow to perform elaborate manipulation tasks. Reinforcement Learning (RL) has led to many promising results on a range of challenging decision-making tasks. However, in real-world robotics,…

Multimodal learning has been lacking principled ways of combining information from different modalities and learning a low-dimensional manifold of meaningful representations. We study multimodal learning and sensor fusion from a latent…

Visual-based target tracking is easily influenced by multiple factors, such as background clutter, targets fast-moving, illumination variation, object shape change, occlusion, etc. These factors influence the tracking accuracy of a target…

Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…

Deep robot vision models are widely used for recognizing objects from camera images, but shows poor performance when detecting objects at untrained positions. Although such problem can be alleviated by training with large datasets, the…

Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…

The automation of robotic tasks requires high precision and adaptability, particularly in force-based operations such as insertions. Traditional learning-based approaches either rely on static datasets, which limit their ability to…

Accurate estimation of the relative pose between an object and a robot hand is critical for many manipulation tasks. However, most of the existing object-in-hand pose datasets use two-finger grippers and also assume that the object remains…

Multi-modal image fusion aggregates information from multiple sensor sources, achieving superior visual quality and perceptual features compared to single-source images, often improving downstream tasks. However, current fusion methods for…

Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and…

Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world…

Pedestrian crossing intention prediction is essential for the deployment of autonomous vehicles (AVs) in urban environments. Ideal prediction provides AVs with critical environmental cues, thereby reducing the risk of pedestrian-related…

Learning representations in the joint domain of vision and touch can improve manipulation dexterity, robustness, and sample-complexity by exploiting mutual information and complementary cues. Here, we present Visuo-Tactile Transformers…