Robotic tactile perception of object properties: A review
Touch sensing can help robots understand their surrounding environment, and in particular
the objects they interact with. To this end, roboticists have, in the last few decades …
the objects they interact with. To this end, roboticists have, in the last few decades …
Recent progress on tactile object recognition
Conventional visual perception technology is subject to many restrictions, such as
illumination, background clutter, and occlusion. Many intrinsic properties of objects, like …
illumination, background clutter, and occlusion. Many intrinsic properties of objects, like …
Slip detection for grasp stabilization with a multifingered tactile robot hand
Tactile sensing is used by humans when gras** to prevent us drop** objects. One key
facet of tactile sensing is slip detection, which allows a gripper to know when a grasp is …
facet of tactile sensing is slip detection, which allows a gripper to know when a grasp is …
Objectfolder 2.0: A multisensory object dataset for sim2real transfer
Abstract Objects play a crucial role in our everyday activities. Though multisensory object-
centric learning has shown great potential lately, the modeling of objects in prior work is …
centric learning has shown great potential lately, the modeling of objects in prior work is …
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 …
Tactile object pose estimation from the first touch with geometric contact rendering
In this paper, we present an approach to tactile pose estimation from the first touch for known
objects. First, we create an object-agnostic map from real tactile observations to contact …
objects. First, we create an object-agnostic map from real tactile observations to contact …
Vitac: Feature sharing between vision and tactile sensing for cloth texture recognition
Vision and touch are two of the important sensing modalities for humans and they offer
complementary information for sensing the environment. Robots could also benefit from …
complementary information for sensing the environment. Robots could also benefit from …
3d shape perception from monocular vision, touch, and shape priors
Perceiving accurate 3D object shape is important for robots to interact with the physical
world. Current research along this direction has been primarily relying on visual …
world. Current research along this direction has been primarily relying on visual …
Tac2pose: Tactile object pose estimation from the first touch
In this paper, we present Tac2Pose, an object-specific approach to tactile pose estimation
from the first touch for known objects. Given the object geometry, we learn a tailored …
from the first touch for known objects. Given the object geometry, we learn a tailored …
Tactile map** and localization from high-resolution tactile imprints
This work studies the problem of shape reconstruction and object localization using a vision-
based tactile sensor, GelSlim. The main contributions are the recovery of local shapes from …
based tactile sensor, GelSlim. The main contributions are the recovery of local shapes from …