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 …

Tactile sensing plays a pivotal role in achieving precise physical manipulation tasks and
extracting vital physical features. This comprehensive review paper presents an in-depth …

The ability to associate touch with other modalities has huge implications for humans and
computational systems. However multimodal learning with touch remains challenging due to …

To achieve human-level dexterity, robots must infer spatial awareness from multimodal
sensing to reason over contact interactions. During in-hand manipulation of novel objects …

Many real-world manipulation tasks consist of a series of subtasks that are significantly
different from one another. Such long-horizon, complex tasks highlight the potential of …

Humans throw and catch objects all the time. However, such a seemingly common skill
introduces a lot of challenges for robots to achieve: The robots need to operate such …