5 papers · 1 filter
RCT: A Robot-Collected Touch-Vision-Language Dataset for Tactile Generalization
Jingbo He, Michael Färber, Roberto Calandra
For robots manipulating open-world objects, tactile representations must generalize to unseen materials. We introduce RCT (Robotic Contact Tactile), a robot-collected touch-vision-…
SemanticFeels: Semantic Labeling during In-Hand Manipulation
Anas Al Shikh Khalil, Haozhi Qi, Roberto Calandra
As robots become increasingly integrated into everyday tasks, their ability to perceive both the shape and properties of objects during in-hand manipulation becomes critical for ad…
Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors
Julia Di, Zdravko Dugonjic, Will Fu +11
Vision-based tactile sensors have recently become popular due to their combination of low cost, very high spatial resolution, and ease of integration using widely available miniatu…
From Simple to Complex Skills: The Case of In-Hand Object Reorientation
Haozhi Qi, Brent Yi, Mike Lambeta +3
Learning policies in simulation and transferring them to the real world has become a promising approach in dexterous manipulation. However, bridging the sim-to-real gap for each ne…
Digitizing Touch with an Artificial Multimodal Fingertip
Mike Lambeta, Tingfan Wu, Ali Sengul +20
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using…