We introduce Rotateit, a system that enables fingertip-based object rotation along multiple
axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where it …

We present Theseus, an efficient application-agnostic open source library for differentiable
nonlinear least squares (DNLS) optimization built on PyTorch, providing a common …

Simulators perform an important role in prototyping, debugging, and benchmarking new
advances in robotics and learning for control. Although many physics engines exist, some …

In this paper, we present Tac2Pose, an object-specific approach to tactile pose estimation
from the first touch for known objects. Given the object geometry, we learn a tailored …

We propose a method that actively estimates contact location between a grasped rigid
object and its environment and uses this as input to a peg-in-hole insertion policy. An …

We present MidasTouch, a tactile perception system for online global localization of a vision-
based touch sensor sliding on an object surface. This framework takes in posed tactile …

Tactile perception is central to robot manipulation in unstructured environments. However, it
requires contact, and a mature implementation must infer object models while also …

Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1)
provide useful information before contact such as object pose estimates and visually servo a …

Human dexterity is an invaluable capability for precise manipulation of objects in complex
tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects …

We present Neural Contact Fields, a method that brings together neural fields and tactile
sensing to address the problem of tracking extrinsic contact between object and …