Visuotactile sensors with emphasis on gelsight sensor: A review
This review paper focuses on vision and touch-based sensors known as visuotactile. The
study of visuotactile sensation and perception became a multidisciplinary field of study by …
study of visuotactile sensation and perception became a multidisciplinary field of study by …
Multimodality helps unimodality: Cross-modal few-shot learning with multimodal models
The ability to quickly learn a new task with minimal instruction-known as few-shot learning-is
a central aspect of intelligent agents. Classical few-shot benchmarks make use of few-shot …
a central aspect of intelligent agents. Classical few-shot benchmarks make use of few-shot …
Visuo-haptic object perception for robots: an overview
The object perception capabilities of humans are impressive, and this becomes even more
evident when trying to develop solutions with a similar proficiency in autonomous robots …
evident when trying to develop solutions with a similar proficiency in autonomous robots …
Making sense of vision and touch: Learning multimodal representations for contact-rich tasks
Contact-rich manipulation tasks in unstructured environments often require both haptic and
visual feedback. It is nontrivial to manually design a robot controller that combines these …
visual feedback. It is nontrivial to manually design a robot controller that combines these …
The objectfolder benchmark: Multisensory learning with neural and real objects
Abstract We introduce the ObjectFolder Benchmark, a benchmark suite of 10 tasks for
multisensory object-centric learning, centered around object recognition, reconstruction, and …
multisensory object-centric learning, centered around object recognition, reconstruction, and …
Generation of gelsight tactile images for sim2real learning
Most current works in Sim2Real learning for robotic manipulation tasks leverage camera
vision that may be significantly occluded by robot hands during the manipulation. Tactile …
vision that may be significantly occluded by robot hands during the manipulation. Tactile …
GelTip: A finger-shaped optical tactile sensor for robotic manipulation
Sensing contacts throughout the fingers is an essential capability for a robot to perform
manipulation tasks in cluttered environments. However, existing tactile sensors either only …
manipulation tasks in cluttered environments. However, existing tactile sensors either only …
Touching a nerf: Leveraging neural radiance fields for tactile sensory data generation
Tactile perception is key for robotics applications such as manipulation. However, tactile
data collection is time-consuming, especially when compared to vision. This limits the use of …
data collection is time-consuming, especially when compared to vision. This limits the use of …
Intelligent carpet: Inferring 3d human pose from tactile signals
Daily human activities, eg, locomotion, exercises, and resting, are heavily guided by the
tactile interactions between the human and the ground. In this work, leveraging such tactile …
tactile interactions between the human and the ground. In this work, leveraging such tactile …
Sim-to-real for robotic tactile sensing via physics-based simulation and learned latent projections
Tactile sensing is critical for robotic gras** and manipulation of objects under visual
occlusion. However, in contrast to simulations of robot arms and cameras, current …
occlusion. However, in contrast to simulations of robot arms and cameras, current …