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07/26/2023
Attention for Robot Touch: Tactile Saliency Prediction for Robust Sim-to-Real Tactile Control
High-resolution tactile sensing can provide accurate information about l...
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07/26/2023
Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing
Object pushing presents a key non-prehensile manipulation problem that i...
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07/12/2023
Bi-Touch: Bimanual Tactile Manipulation with Sim-to-Real Deep Reinforcement Learning
Bimanual manipulation with tactile feedback will be key to human-level r...
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07/10/2023
Learning Fine Pinch-Grasp Skills using Tactile Sensing from Real Demonstration Data
This work develops a data-efficient learning from demonstration framewor...
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06/29/2023
TacMMs: Tactile Mobile Manipulators for Warehouse Automation
Multi-robot platforms are playing an increasingly important role in ware...
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03/16/2023
Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks
This paper presents a control scheme for force sensitive, gentle graspin...
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03/05/2023
Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing
Tactile pose estimation and tactile servoing are fundamental capabilitie...
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08/26/2022
Semi-Supervised Disentanglement of Tactile Contact Geometry from Sliding-Induced Shear
The sense of touch is fundamental to human dexterity. When mimicked in r...
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07/21/2022
Tactile Gym 2.0: Sim-to-real Deep Reinforcement Learning for Comparing Low-cost High-Resolution Robot Touch
High-resolution optical tactile sensors are increasingly used in robotic...
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07/04/2022
Mapping Mid-air Haptics with a Low-cost Tactile Robot
Mid-air haptics create a new mode of feedback to allow people to feel ta...
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06/27/2022
DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch
Deep learning combined with high-resolution tactile sensing could lead t...
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06/25/2022
BRL/Pisa/IIT SoftHand: A Low-cost, 3D-Printed, Underactuated, Tendon-Driven Hand with Soft and Adaptive Synergies
This paper introduces the BRL/Pisa/IIT (BPI) SoftHand: a single actuator...
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04/05/2022
Artificial SA-I, RA-I and RA-II/Vibrotactile Afferents for Tactile Sensing of Texture
Robot touch can benefit from how humans perceive tactile textural inform...
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09/08/2021
Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear
Robotic touch, particularly when using soft optical tactile sensors, suf...
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07/05/2021
Artificial SA-I and RA-I Afferentsfor Tactile Sensing of Ridges and Gratings
For robot touch to converge with the human sense of touch, artificial tr...
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06/16/2021
Optical Tactile Sim-to-Real Policy Transfer via Real-to-Sim Tactile Image Translation
Simulation has recently become key for deep reinforcement learning to sa...
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06/03/2021
Probabilistic Discriminative Models Address the Tactile Perceptual Aliasing Problem
In this paper, our aim is to highlight Tactile Perceptual Aliasing as a ...
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06/02/2021
A robust controller for stable 3D pinching using tactile sensing
This paper proposes a controller for stable grasping of unknown-shaped o...
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05/30/2021
Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review
Reproducing the capabilities of the human sense of touch in machines is ...
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04/29/2021
Uncertainty-aware deep learning for robot touch: Application to Bayesian tactile servo control
This work investigates uncertainty-aware deep learning (DL) in tactile r...
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02/05/2021
Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands
In this work, we report on the integrated sensorimotor control of the Pi...
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12/04/2020
Pose-Based Servo Control with Soft Tactile Sensing
This paper describes a new way of controlling robots using soft tactile ...
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12/03/2020
Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback
In robots, nonprehensile manipulation operations such as pushing are a u...
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10/27/2020
Spatio-temporal encoding improves neuromorphic tactile texture classification
With the increase in interest in deployment of robots in unstructured en...
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10/05/2020
Slip detection for grasp stabilisation with a multi-fingered tactile robot hand
Tactile sensing is used by humans when grasping to prevent us dropping o...
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08/16/2020
A Biomimetic Tactile Fingerprint Induces Incipient Slip
We present a modified TacTip biomimetic optical tactile sensor design wh...
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08/12/2020
Walking on TacTip toes: A tactile sensing foot for walking robots
Little research into tactile feet has been done for walking robots despi...
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08/06/2020
Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard
Artificial touch would seem well-suited for Reinforcement Learning (RL),...
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03/31/2020
Sim-to-Real Transfer for Optical Tactile Sensing
Deep learning and reinforcement learning methods have been shown to enab...
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03/04/2020
Optimal Deep Learning for Robot Touch
This article illustrates the application of deep learning to robot touch...
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03/01/2020
NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition
Developing artificial tactile sensing capabilities that rival human touc...
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09/12/2019
Learning to Live Life on the Edge: Online Learning for Data-Efficient Tactile Contour Following
Tactile sensing has been used for a variety of robotic exploration and m...
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05/02/2019
Shear-invariant Sliding Contact Perception with a Soft Tactile Sensor
Manipulation tasks often require robots to be continuously in contact wi...
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12/07/2018
From pixels to percepts: Highly robust edge perception and contour following using deep learning and an optical biomimetic tactile sensor
Deep learning has the potential to have the impact on robot touch that i...
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09/30/2018
TacWhiskers: Biomimetic optical tactile whiskered robots
Here we propose and investigate a novel vibrissal tactile sensor - the T...
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05/21/2018
Principal Components of Touch
Our human sense of touch enables us to manipulate our surroundings; ther...
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05/21/2018