11 accepted papers
Non-prehensile manipulation offers a robust alternative to traditional pick-and-place methods for object repositioning. However, learning such skills with dexterous, multi-fingered hands remains largely unexplored, leaving their potential for stable and efficient manipulation underutilized. Progress…
Vision-based tactile sensors enable high-resolution tactile perception by capturing image-based contact data. However, their utility in tactile localization is limited by their inherently small and local sensing area, as well as their dependence on distinct object surface features. We propose TacTap…
Learning real-world robotic manipulation is challenging, particularly when limited demonstrations are available. Existing methods for few-shot manipulation often rely on simulation-augmented data or pre-built modules like grasping and pose estimation, which struggle with sim-to-real gaps and lack ex…
Robots are increasingly envisioned as human companions, assisting with everyday tasks that often involve manipulating deformable objects. Recent advancements in robotic hardware and embodied AI algorithms have expanded the range of tasks robots can perform. However, current systems still struggle wi…
Endowing the curved surfaces of rounded vision-based tactile fingers is essential for dexterous robotic manipulation, as they offer more sufficient contact with the environment. However, current rounded designs are constrained by a low sensing frequency (30–60 Hz) and the need for recalibration when
Magnetic-based tactile sensors (MBTS) combine the advantages of compact design and high-frequency operation but suffer from limited spatial resolution due to their sparse taxel arrays. This paper proposes SuperMag, a tactile shape reconstruction method that addresses this limitation by leveraging hi
Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, current VBTS designs, typically confined to the fingertips of robotic grippers, prove somewhat inadequate, as many grasping a
Robot-assisted minimally invasive surgery (RAMIS) provides substantial benefits over traditional open and laparoscopic methods. However, a significant limitation of robot-assisted minimally invasive surgery (RAMIS) is the surgeon's inability to palpate tissues, a crucial technique for examining tiss
In conjunction with huge recent progress in cam-era and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive, capacitive or magnetic based), they offer super-high-resol…
GelSight sensors that estimate contact geometry and force by reconstructing the deformation of their soft elastomer from images would yield poor force measurements when the elastomer deforms uniformly or reaches deformation saturation. Here we present an L <inline-formula xmlns:mml="http://www.w3.or
Measuring forces and torques applied to tools of unconventional shapes can be challenging due to difficulties in connecting commercially available force/torque sensors. We propose an innovative, customizable six-axis force/torque sensor which can be clamped around a tool or end-effector to minimize…