6 citations · 18 across the 8 of their papers we have counts for
6 papers · 1 filter
RobotSweater: Scalable, Generalizable, and Customizable Machine-Knitted Tactile Skins for Robots
Zilin Si, Tianhong Catherine Yu, Katrene Morozov +2
Tactile sensing is essential for robots to perceive and react to the environment. However, it remains a challenge to make large-scale and flexible tactile skins on robots. Industri…
MidasTouch: Monte-Carlo inference over distributions across sliding touch
Sudharshan Suresh, Zilin Si, Stuart Anderson +2
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…
Grasp Stability Prediction with Sim-to-Real Transfer from Tactile Sensing
Zilin Si, Zirui Zhu, Arpit Agarwal +2
Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical i…
ShapeMap 3-D: Efficient shape mapping through dense touch and vision
Sudharshan Suresh, Zilin Si, Joshua G. Mangelson +2
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded duri…
Taxim: An Example-based Simulation Model for GelSight Tactile Sensors
Zilin Si, Wenzhen Yuan
Simulation is widely used in robotics for system verification and large-scale data collection. However, simulating sensors, including tactile sensors, has been a long-standing chal…
Improving Grasp Stability with Rotation Measurement from Tactile Sensing
Raj Kolamuri, Zilin Si, Yufan Zhang +2
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfac…