Embodied Artificial Intelligence (Embodied AI) is crucial for achieving Artificial General
Intelligence (AGI) and serves as a foundation for various applications that bridge cyberspace …

An emerging line of work has sought to generate plausible imagery from touch. Existing
approaches, however, tackle only narrow aspects of the visuo-tactile synthesis problem, and …

We present a scene representation that brings vision and touch into a shared 3D space
which we call a tactile-augmented radiance field. This representation capitalizes on two key …

Today's touch sensors come in many shapes and sizes. This has made it challenging to
develop general-purpose touch processing methods since models are generally tied to one …

Tactile sensing is a necessary capability for a robotic hand to perform fine manipulations
and interact with the environment. Optical sensors are a promising solution for high …

Humans rely on their visual and tactile senses to develop a comprehensive 3D
understanding of their physical environment. Recently, there has been a growing interest in …

Learning from Demonstrations, the field that proposes to learn robot behavior models from
data, is gaining popularity with the emergence of deep generative models. Although the …

We introduce DIFFTACTILE, a physics-based differentiable tactile simulation system
designed to enhance robotic manipulation with dense and physically accurate tactile …

In this paper, we propose composable part-based manipulation (CPM), a novel approach
that leverages object-part decomposition and part-part correspondences to improve learning …

In this paper, we address the Sim2Real gap in the field of vision-based tactile sensors for
classifying object surfaces. We train a Diffusion Model to bridge this gap using a relatively …