286 citations · 291 across the 11 of their papers we have counts for
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SimTac: A Physics-Based Simulator for Vision-Based Tactile Sensing with Biomorphic Structures
Xuyang Zhang, Jiaqi Jiang, Zhuo Chen +5
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interac…
RoTipBot: Robotic Handling of Thin and Flexible Objects using Rotatable Tactile Sensors
Jiaqi Jiang, Xuyang Zhang, Daniel Fernandes Gomes +2
This paper introduces RoTipBot, a novel robotic system for handling thin, flexible objects. Different from previous works that are limited to singulating them using suction cups or…
Generating Future Observations to Estimate Grasp Success in Cluttered Environments
Daniel Fernandes Gomes, Wenxuan Mou, Paolo Paoletti +1
End-to-end self-supervised models have been proposed for estimating the success of future candidate grasps and video predictive models for generating future observations. However,…
Beyond Flat GelSight Sensors: Simulation of Optical Tactile Sensors of Complex Morphologies for Sim2Real Learning
Daniel Fernandes Gomes, Paolo Paoletti, Shan Luo
Recently, several morphologies, each with its advantages, have been proposed for the \textit{GelSight} high-resolution tactile sensors. However, existing simulation methods are lim…
GelTip Tactile Sensor for Dexterous Manipulation in Clutter
Daniel Fernandes Gomes, Shan Luo
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and in…
Reducing Tactile Sim2Real Domain Gaps via Deep Texture Generation Networks
Tudor Jianu, Daniel Fernandes Gomes, Shan Luo
Recently simulation methods have been developed for optical tactile sensors to enable the Sim2Real learning, i.e., firstly training models in simulation before deploying them on th…
Vision-Guided Active Tactile Perception for Crack Detection and Reconstruction
Jiaqi Jiang, Guanqun Cao, Daniel Fernandes Gomes +1
Crack detection is of great significance for monitoring the integrity and well-being of the infrastructure such as bridges and underground pipelines, which are harsh environments f…
TouchRoller: A Rolling Optical Tactile Sensor for Rapid Assessment of Large Surfaces
Guanqun Cao, Jiaqi Jiang, Chen Lu +2
Tactile sensing is important for robots to perceive the world as it captures the texture and hardness of the object in contact and is robust to illumination and colour variances. H…
Generation of GelSight Tactile Images for Sim2Real Learning
Daniel Fernandes Gomes, Paolo Paoletti, Shan Luo
Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sen…
GelTip: A Finger-shaped Optical Tactile Sensor for Robotic Manipulation
Daniel Fernandes Gomes, Zhonglin Lin, Shan Luo
Sensing contacts throughout the fingers is an essential capability for a robot to perform manipulation tasks in cluttered environments. However, existing tactile sensors either onl…
GarmNet: Improving Global with Local Perception for Robotic Laundry Folding
Daniel Fernandes Gomes, Shan Luo, Luis F. Teixeira
Developing autonomous assistants to help with domestic tasks is a vital topic in robotics research. Among these tasks, garment folding is one of them that is still far from being a…