A key challenge in intelligent robotics is creating robots that are capable of directly
interacting with the world around them to achieve their goals. The last decade has seen …

We present MidasTouch, a tactile perception system for online global localization of a vision-
based touch sensor sliding on an object surface. This framework takes in posed tactile …

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 …

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 …

We present a robot kinematic calibration method that combines complementary calibration
approaches: self-contact, planar constraints, and self-observation. We analyze the …

Joint estimation of grasped object pose and extrinsic contacts is central to robust and
dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that …

In this paper, we propose a method for estimating in-hand object poses using proprioception
and tactile feedback from a bimanual robotic system. Our method addresses the problem of …

Contact interactions are central to robot manipulation and locomotion behaviors. State
estimation techniques that explicitly capture the dynamics of contact offer the potential to …

The termbody schema'refers to a computational representation of a physical body; the
neural representation of a human body, or the numerical representation of a robot body. In …

To achieve dexterity comparable to that of humans, robots must intelligently process tactile
sensor data. Taxel-based tactile signals often have low spatial-resolution, with non …