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Found 11 papers, 2 papers with code
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation
Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology.
The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning
For tasks requiring object manipulation, we seamlessly and effectively exploit the complementarity of our senses of vision and touch.
Language Reward Modulation for Pretraining Reinforcement Learning
Using learned reward functions (LRFs) as a means to solve sparse-reward reinforcement learning (RL) tasks has yielded some steady progress in task-complexity through the years.
Chain of Hindsight Aligns Language Models with Feedback
Applying our method to large language models, we observed that Chain of Hindsight significantly surpasses previous methods in aligning language models with human preferences.
Leveraging distributed contact force measurements for slip detection: a physics-based approach enabled by a data-driven tactile sensor
Grasping objects whose physical properties are unknown is still a great challenge in robotics.
Zero-shot sim-to-real transfer of tactile control policies for aggressive swing-up manipulation
This paper aims to show that robots equipped with a vision-based tactile sensor can perform dynamic manipulation tasks without prior knowledge of all the physical attributes of the objects to be manipulated.
Sim-to-real for high-resolution optical tactile sensing: From images to 3D contact force distributions
The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface.
A Vision-based Sensing Approach for a Spherical Soft Robotic Arm
The reliability of the sensing approach is demonstrated by using the sensory feedback to control the orientation of the robotic arm in closed-loop.
Robotics
Learning the sense of touch in simulation: a sim-to-real strategy for vision-based tactile sensing
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials.
Towards vision-based robotic skins: a data-driven, multi-camera tactile sensor
This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface.
Vision-Based Proprioceptive Sensing for Soft Inflatable Actuators
The resulting sensing pipeline runs at 40 Hz in real-time on a standard laptop and is additionally used for closed loop elongation control of the actuator.
