相关论文: VTouch++: A Multimodal Dataset with Vision-Based T…

While data-driven imitation learning has revolutionized robotic manipulation, current approaches remain constrained by the scarcity of large-scale, diverse real-world demonstrations. Consequently, the ability of existing models to…

Developing smart tires with high sensing capability is significant for improving the moving stability and environmental adaptability of wheeled robots and vehicles. However, due to the classical manufacturing design, it is always…

Intuitive Teleoperation interfaces are essential for mobile manipulation robots to ensure high quality data collection while reducing operator workload. A strong sense of embodiment combined with minimal physical and cognitive demands not…

Tactile sensing provides local essential information that is complementary to visual perception, such as texture, compliance, and force. Despite recent advances in visuotactile representation learning, challenges remain in fusing these…

Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…

The development of vision-based tactile sensors has significantly enhanced robots' perception and manipulation capabilities, especially for tasks requiring contact-rich interactions with objects. In this work, we present DTactive, a novel…

Embodied intelligence for contact-rich manipulation has predominantly relied on position control, while explicit awareness and regulation of interaction forces remain under-explored, limiting stability, precision, and robustness in…

With the development of VR technology, especially the emergence of the metaverse concept, the integration of visual and tactile perception has become an expected experience in human-machine interaction. Therefore, achieving spatial-temporal…

Tactile sensing presents a promising opportunity for enhancing the interaction capabilities of today's robots. BioTac is a commonly used tactile sensor that enables robots to perceive and respond to physical tactile stimuli. However, the…

As humans, we experience the world with all our senses or modalities (sound, sight, touch, smell, and taste). We use these modalities, particularly sight and touch, to convey and interpret specific meanings. Multimodal expressions are…

Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in…

Designing robotic tasks for co-manipulation necessitates to exploit not only proprioceptive but also exteroceptive information for improved safety and autonomy. Following such instinct, this research proposes to formulate intuitive robotic…

We introduce RotateIt, a system that enables fingertip-based object rotation along multiple axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where it has access to ground-truth object shapes and physical…

Knowledge of the 6D pose of an object can benefit in-hand object manipulation. In-hand 6D object pose estimation is challenging because of heavy occlusion produced by the robot's grippers, which can have an adverse effect on methods that…

Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…

How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed…

Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…

Embodied foundation models are increasingly performant in real-world domains such as robotics or autonomous driving. These models are often deployed in interactive or assistive settings, where it is important that these assistive models…

Visuotactile policy learning augments vision-only policies with tactile input, facilitating contact-rich manipulation. However, the high cost of tactile data collection makes sample efficiency the key requirement for developing visuotactile…

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…