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 …

Object insertion is a classic contact-rich manipulation task. The task remains challenging,
especially when considering general objects of unknown geometry, which significantly limits …

In order to help robots understand and perceive an object's properties during noncontact
robot-object interaction, this article proposes a deeply supervised subspace learning …

We propose a method that actively estimates contact location between a grasped rigid
object and its environment and uses this as input to a peg-in-hole insertion policy. An …

This paper addresses the localization of contacts of an unknown grasped rigid object with its
environment, ie, extrinsic to the robot. We explore the key role that distributed tactile sensing …

We're interested in the problem of estimating object states from touch during manipulation
under occlusions. In this work, we address the problem of estimating object poses from …

We present an approach to robotic manipulation of unknown objects through regulation of
the object's contact configuration: the location, geometry, and mode of all contacts between …

Robotic autonomous assembly is critical in intelligent manufacturing and has always been a
research hotspot. Most previous approaches rely on prior knowledge, such as geometric …

Recent progress in the field of robotic manipulation has generated interest in fully automatic
object packing in warehouses. This article presents a formulation of the robotic packing …

A recent line of work has shown that end-to-end optimization of Bayesian filters can be used
to learn state estimators for systems whose underlying models are difficult to hand-design or …