相关论文: ReTac-ACT: A State-Gated Vision-Tactile Fusion Tra…

High-precision assembly frequently involves tight-tolerance insertions, where even slight pose errors can cause jamming or excessive interaction forces, making robust and safe insertion policies difficult to obtain. This paper proposes a…

The advancements in vision-based tactile sensors have boosted the aptitude of robots to perform contact-rich manipulation, particularly when precise positioning and contact state of the manipulated objects are crucial for successful…

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…

Vision-based tactile sensors have drawn increasing interest in the robotics community. However, traditional lens-based designs impose minimum thickness constraints on these sensors, limiting their applicability in space-restricted settings.…

Visuotactile sensing offers rich contact information that can help mitigate performance bottlenecks in imitation learning, particularly under vision-limited conditions, such as ambiguous visual cues or occlusions. Effectively fusing visual…

Humans excel at bimanual assembly tasks by adapting to rich tactile feedback -- a capability that remains difficult to replicate in robots through behavioral cloning alone, due to the suboptimality and limited diversity of human…

Automating contact-rich manipulation of viscoelastic objects with rigid robots faces challenges including dynamic parameter mismatches, unstable contact oscillations, and spatiotemporal force-deformation coupling. In our prior work, a…

Tactile sensing is fundamental to robotic systems, enabling interactions through physical contact in multiple tasks. Despite its importance, achieving high-resolution, large-area tactile sensing remains challenging. Electrical Impedance…

Reliable insertion of industrial connectors remains a central challenge in robotics, requiring sub-millimeter precision under uncertainty and often without full visual access. Vision-based approaches struggle with occlusion and limited…

Collaborative robots stand to have an immense impact on both human welfare in domestic service applications and industrial superiority in advanced manufacturing with dexterous assembly. The outstanding challenge is providing robotic…

Vision and touch are two fundamental sensory modalities for robots, offering complementary information that enhances perception and manipulation tasks. Previous research has attempted to jointly learn visual-tactile representations to…

The contour estimation of transparent fragments is very important for autonomous reassembly, especially in the fields of precision optical instrument repair, cultural relic restoration, and identification of other precious device broken…

Insertion tasks in robotic manipulation demand precise, contact-rich interactions that vision alone cannot resolve. While tactile feedback is intuitively valuable, existing studies have shown that na\"ive visuo-tactile fusion often fails to…

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…

Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…

We introduce the simple idea of adaptive view planning to multi-view synthesis, aiming to improve both occlusion revelation and 3D consistency for single-view 3D reconstruction. Instead of producing an unordered set of views independently…

Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…

Flexible electrical impedance tomography (EIT) offers a promising alternative to traditional tactile sensing approaches, enabling low-cost, scalable, and deformable sensor designs. Here, we propose an optimized lattice-structured flexible…

Accurate shape reconstruction of transparent objects is a challenging task due to their non-Lambertian surfaces and yet necessary for robots for accurate pose perception and safe manipulation. As vision-based sensing can produce erroneous…

Manipulating fragile deformable containers, such as disposable plastic cups filled with liquid, demands real-time grip-force adaptation within an extremely narrow force margin: insufficient force causes slip, while excessive force…