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Found 12 papers, 2 papers with code
PoCo: Policy Composition from and for Heterogeneous Robot Learning
Training general robotic policies from heterogeneous data for different tasks is a significant challenge.
GelSight Svelte: A Human Finger-shaped Single-camera Tactile Robot Finger with Large Sensing Coverage and Proprioceptive Sensing
Moreover, existing methods to estimate proprioceptive information such as total forces and torques applied on the finger from camera-based tactile sensors are not effective when the contact geometry is complex.
FingerSLAM: Closed-loop Unknown Object Localization and Reconstruction from Visuo-tactile Feedback
FingerSLAM is constructed with two constituent pose estimators: a multi-pass refined tactile-based pose estimator that captures movements from detailed local textures, and a single-pass vision-based pose estimator that predicts from a global view of the object.
3D Shape Perception from Monocular Vision, Touch, and Shape Priors
Perceiving accurate 3D object shape is important for robots to interact with the physical world.
More Than a Feeling: Learning to Grasp and Regrasp using Vision and Touch
This model -- a deep, multimodal convolutional network -- predicts the outcome of a candidate grasp adjustment, and then executes a grasp by iteratively selecting the most promising actions.
The Feeling of Success: Does Touch Sensing Help Predict Grasp Outcomes?
In this work, we investigate the question of whether touch sensing aids in predicting grasp outcomes within a multimodal sensing framework that combines vision and touch.
Learning visual groups from co-occurrences in space and time
We propose a self-supervised framework that learns to group visual entities based on their rate of co-occurrence in space and time.
Discovering States and Transformations in Image Collections
Our system works by generalizing across object classes: states and transformations learned on one set of objects are used to interpret the image collection for an entirely new object class.
On the Appearance of Translucent Edges
We also discuss the existence of shape and material metamers, or combinations of distinct shape or material parameters that generate the same edge profile.
Sparkle Vision: Seeing the World through Random Specular Microfacets
In this paper, we study the problem of reproducing the world lighting from a single image of an object covered with random specular microfacets on the surface.
Sensing and Recognizing Surface Textures Using a GelSight Sensor
Sensing surface textures by tou ch is a valuable was difficult to build capability for robots.
