Tactile sensing is a key sensor modality for robots interacting with their surroundings. These
sensors provide a rich and diverse set of data signals that contain detailed information …

Perceiving accurate 3D object shape is important for robots to interact with the physical
world. Current research along this direction has been primarily relying on visual …

This work studies the problem of shape reconstruction and object localization using a vision-
based tactile sensor, GelSlim. The main contributions are the recovery of local shapes from …

Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may
not be readily available in unstructured environments. While vision is often occluded during …

When a toddler is presented a new toy, their instinctual behaviour is to pick it up and inspect
it with their hand and eyes in tandem, clearly searching over its surface to properly …

Humans build 3D understandings of the world through active object exploration, using jointly
their senses of vision and touch. However, in 3D shape reconstruction, most recent progress …

We introduce a new class of vision-based sensor and associated algorithmic processes that
combine visual imaging with high-resolution tactile sending, all in a uniform hardware and …

Recent advancements in object shape completion have enabled impressive object
reconstructions using only visual input. However, due to self-occlusion, the reconstructions …

This letter presents a compliant exploration framework based on a collaborative robot
Franka Panda that builds a 3D plant stem model. The model is built for agricultural plant …

For robot manipulation, a complete and accurate object shape is desirable. Here, we
present a method that combines visual and haptic reconstruction in a closed-loop pipeline …