Binding touch to everything: Learning unified multimodal tactile representations
The ability to associate touch with other modalities has huge implications for humans and
computational systems. However multimodal learning with touch remains challenging due to …
computational systems. However multimodal learning with touch remains challenging due to …
See to touch: Learning tactile dexterity through visual incentives
Equipping multi-fingered robots with tactile sensing is crucial for achieving the precise,
contact-rich, and dexterous manipulation that humans excel at. However, relying solely on …
contact-rich, and dexterous manipulation that humans excel at. However, relying solely on …
Dexterity from touch: Self-supervised pre-training of tactile representations with robotic play
Teaching dexterity to multi-fingered robots has been a longstanding challenge in robotics.
Most prominent work in this area focuses on learning controllers or policies that either …
Most prominent work in this area focuses on learning controllers or policies that either …
Self-supervised visuo-tactile pretraining to locate and follow garment features
Humans make extensive use of vision and touch as complementary senses, with vision
providing global information about the scene and touch measuring local information during …
providing global information about the scene and touch measuring local information during …
Toward General Cross-Modal Signal Reconstruction for Robotic Teleoperation
Y Chen, A Li, D Wu, L Zhou - IEEE Transactions on Multimedia, 2023 - ieeexplore.ieee.org
The multi-modal robotic teleoperation, as an important application in human-computer
interaction (HCI), is playing a significant role in various domains such as industry …
interaction (HCI), is playing a significant role in various domains such as industry …
Visuo-Tactile Pretraining for Cable Plugging
Tactile information is a critical tool for fine-grain manipulation. As humans, we rely heavily on
tactile information to understand objects in our environments and how to interact with them …
tactile information to understand objects in our environments and how to interact with them …
Semi-supervised disentanglement of tactile contact geometry from sliding-induced shear
The sense of touch is fundamental to human dexterity. When mimicked in robotic touch,
particularly by use of soft optical tactile sensors, it suffers from distortion due to motion …
particularly by use of soft optical tactile sensors, it suffers from distortion due to motion …
Self-supervised visual learning from interactions with objects
Self-supervised learning (SSL) has revolutionized visual representation learning, but has
not achieved the robustness of human vision. A reason for this could be that SSL does not …
not achieved the robustness of human vision. A reason for this could be that SSL does not …
InfoCon: Concept Discovery with Generative and Discriminative Informativeness
We focus on the self-supervised discovery of manipulation concepts that can be adapted
and reassembled to address various robotic tasks. We propose that the decision to …
and reassembled to address various robotic tasks. We propose that the decision to …
Learning robotic manipulation skills using an adaptive force-impedance action space
Intelligent agents must be able to think fast and slow to perform elaborate manipulation
tasks. Reinforcement Learning (RL) has led to many promising results on a range of …
tasks. Reinforcement Learning (RL) has led to many promising results on a range of …