相关论文: TacEva: A Performance Evaluation Framework For Vis…

Visuotactile sensors provide high-resolution tactile information but are incapable of perceiving the material features of objects. We present UltraTac, an integrated sensor that combines visuotactile imaging with ultrasound sensing through…

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…

Vision-Language-Action (VLA) models have demonstrated significant advantages in robotic manipulation. However, their reliance on vision and language often leads to suboptimal performance in tasks involving visual occlusion, fine-grained…

Accurate perception of object hardness is essential for safe and dexterous contact-rich robotic manipulation. Here, we present TactEx, an explainable multimodal robotic interaction framework that unifies vision, touch, and language for…

Vision Transformers (ViTs) have emerged as popular models in computer vision, demonstrating state-of-the-art performance across various tasks. This success typically follows a two-stage strategy involving pre-training on large-scale…

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…

We launch EVA, a vision-centric foundation model to explore the limits of visual representation at scale using only publicly accessible data. EVA is a vanilla ViT pre-trained to reconstruct the masked out image-text aligned vision features…

In this paper, to address the sensitivity and durability trade-off of Vision-based Tactile Sensor (VTSs), we introduce a hyper-sensitive and high-fidelity VTS called HySenSe. We demonstrate that by solely changing one step during the…

A long-term visual object tracking performance evaluation methodology and a benchmark are proposed. Performance measures are designed by following a long-term tracking definition to maximize the analysis probing strength. The new measures…

Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…

The recent rapid advancement of Text-to-Video (T2V) generation technologies are engaging the trained models with more world model ability, making the existing benchmarks increasingly insufficient to evaluate state-of-the-art T2V models.…

Multi-robot platforms are playing an increasingly important role in warehouse automation for efficient goods transport. This paper proposes a novel customization of a multi-robot system, called Tactile Mobile Manipulators (TacMMs). Each…

Technological advancements have led to the rise of wearable devices with sensors that continuously monitor user activities, generating vast amounts of unlabeled data. This data is challenging to interpret, and manual annotation is…

This paper examines performance evaluation criteria for basic vision tasks involving sets of objects namely, object detection, instance-level segmentation and multi-object tracking. The rankings of algorithms by an existing criterion can…

Recent advances in vision-language pre-training (VLP) have demonstrated impressive performance in a range of vision-language (VL) tasks. However, there exist several challenges for measuring the community's progress in building general…

Vision-language tracking (VLT) extends traditional single object tracking by incorporating textual information, providing semantic guidance to enhance tracking performance under challenging conditions like fast motion and deformations.…

Text-to-video (T2V) synthesis has advanced rapidly, yet current evaluation metrics primarily capture visual quality and temporal consistency, offering limited insight into how synthetic videos perform in downstream tasks such as…

Video foundation models aim to integrate video understanding, generation, editing, and instruction following within a single framework, making them a central direction for next-generation multimodal systems. However, existing evaluation…

Vision-Language-Action (VLA) models have recently emerged as powerful generalists for robotic manipulation. However, due to their predominant reliance on visual modalities, they fundamentally lack the physical intuition required for…

Tactile sensing is one of the modalities humans rely on heavily to perceive the world. Working with vision, this modality refines local geometry structure, measures deformation at the contact area, and indicates the hand-object contact…