7 accepted papers
Multitask learning poses significant challenges due to the highly multimodal and diverse nature of robot action distributions. However, effectively fitting policies to these complex task distributions is often difficult, and existing monolithic models often underfit the action distribution and lack
Vision-Language Models (VLMs) exhibit remarkable common-sense and semantic reasoning capabilities. However, they lack a grounded understanding of physical dynamics. This limitation arises from training VLMs on static internet-scale visual-language data that contain no causal interactions or action-c
High-resolution visuotactile sensors provide detailed contact information that is promising to infer the physical properties of objects in contact. This paper introduces a novel technique for high-resolution stiffness estimation of heterogeneous deformable objects using the Punyo bubble sensor. We d
Fruit monitoring plays an important role in crop management, and rising global fruit consumption combined with labor shortages necessitates automated monitoring with robots. However, occlusions from plant foliage often hinder accurate shape and pose estimation. Therefore, we propose an active fruit
Soft-bubble tactile sensors have the potential to capture dense contact and force information across a large contact surface. However, it is difficult to extract contact forces directly from observing the bubble surface because local contacts change the global surface shape significantly due to memb…
Estimating visual-tactile models of deformable objects is challenging because vision suffers from occlusion, while touch data is sparse and noisy. We propose a novel data-efficient method for dense heterogeneous model estimation by leveraging experience from diverse training objects. The method is…
This paper introduces a method for learning the force response of heterogeneous, deformable objects directly from robot sensor data without prior knowledge. The method estimates an object's force response given robot force or torque measurements using a novel volumetric stiffness field representatio…