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

Vision-Language-Action (VLA) models enable robots to interpret natural-language instructions and perform diverse tasks, yet their integration of perception, language, and control introduces new safety vulnerabilities. Despite growing…

In the recent past, the computer vision community has developed centralized benchmarks for the performance evaluation of a variety of tasks, including generic object and pedestrian detection, 3D reconstruction, optical flow, single-object…

Visual text is a crucial component in both document and scene images, conveying rich semantic information and attracting significant attention in the computer vision community. Beyond traditional tasks such as text detection and…

Spatial convolutions are extensively used in numerous deep video models. It fundamentally assumes spatio-temporal invariance, i.e., using shared weights for every location in different frames. This work presents Temporally-Adaptive…

This paper presents a novel framework for integration of vision and tactile sensing by localizing tactile readings in a visual object map. Intuitively, there are some correspondences, e.g., prominent features, between visual and tactile…

Spatial convolutions are widely used in numerous deep video models. It fundamentally assumes spatio-temporal invariance, i.e., using shared weights for every location in different frames. This work presents Temporally-Adaptive Convolutions…

Tactile-vision-language (TVL) models are increasingly deployed in real-world robotic and multimodal perception tasks, where test-time distribution shifts are unavoidable. Existing test-time adaptation (TTA) methods provide filtering in…

Being intensively studied, visual object tracking has witnessed great advances in either speed (e.g., with correlation filters) or accuracy (e.g., with deep features). Real-time and high accuracy tracking algorithms, however, remain scarce.…

Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framework, we designed a novel sensor called ViTacTip, which…

Optical tactile sensors have recently become popular. They provide high spatial resolution, but struggle to offer fine temporal resolutions. To overcome this shortcoming, we study the idea of replacing the RGB camera with an event-based…

Modern artificial intelligence is supported by machine learning models (e.g., foundation models) that are pretrained on a massive data corpus and then adapted to solve a variety of downstream tasks. To summarize performance across multiple…

Visual Question-Answering (VQA) has become key to user experience, particularly after improved generalization capabilities of Vision-Language Models (VLMs). But evaluating VLMs for an application requirement using a standardized framework…

Tactile perception plays an important role in activities of daily living, and it can be impaired in individuals with certain medical conditions. The most common tools used to assess tactile sensation, the Semmes-Weinstein monofilaments and…

Vibrotactile signals offer new possibilities for conveying sensations and emotions in various applications. Yet, designing vibrotactile tactile icons (i.e., Tactons) to evoke specific feelings often requires a trial-and-error process and…

Building on the advancements of Large Language Models (LLMs) and Vision Language Models (VLMs), recent research has introduced Vision-Language-Action (VLA) models as an integrated solution for robotic manipulation tasks. These models take…

Quality inspection in smart manufacturing requires identifying intrinsic material and surface properties beyond visible geometry, yet vision-only methods remain vulnerable to occlusion and reflection. We propose VitaTouch, a property-aware…

This paper addresses the problem of single-target tracker performance evaluation. We consider the performance measures, the dataset and the evaluation system to be the most important components of tracker evaluation and propose requirements…

Active perception and manipulation are crucial for robots to interact with complex scenes. Existing methods struggle to unify semantic-driven active perception with robust, viewpoint-invariant execution. We propose SaPaVe, an end-to-end…

Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot…

Contact-rich manipulation tasks, such as wiping and assembly, require accurate perception of contact forces, friction changes, and state transitions that cannot be reliably inferred from vision alone. Despite growing interest in…