We consider the setting of an agent with a fixed body interacting with an unknown and
uncertain external world. We show that models trained to predict proprioceptive information …

In human-robot interaction, the robot must behave safely, especially when an operator is
present in its workspace. Even higher safety levels must be attained when physical contact …

One of the most important human capabilities is the tactile sensing that allows advanced in
hand manipulation for several objects or tasks. In the robot world, object manipulation …

Touch is one of the most important human capabilities. If vision can help people to recognize
the environment, touch is the fine controller for all motions. Tactile sensors measure …

Tactile information is important for gripping, stable grasp, and in-hand manipulation, yet the
complexity of tactile data prevents widespread use of such sensors. We make use of an …

In this work a previously inefficient unsupervised control technique called empowerment
gets applied to simulated and real robots. For this purpose, an unsupervised algorithm for …

Tactile sensing and slip detection plays an important role in enabling robotic dexterous
object manipulation. Thus developing a high-resolution fully integrated tactile sensor system …