5 papers · 1 filter
OpenTie: Open-vocabulary Sequential Rebar Tying System
Sai Fan, Mingze Liu, Haozhen Li +3
Robotic practices on the construction site emerge as an attention-attracting manner owing to their capability of tackling complex challenges, especially in the rebar-involved scena…
TacSE3: Equivariant SE(3) Motion Estimation from Low-Texture Visuotactile Images for In-Gripper Tracking and Compensation
Zhongyuan Liao, Junzhe Wang, Qingyang Liu +6
Robotic in-hand manipulation requires reliable object-motion tracking under frequent visual occlusion, yet low-texture visuotactile images provide few stable correspondences for co…
Provably Safe Trajectory Generation for Manipulators Under Motion and Environmental Uncertainties
Fei Meng, Zijiang Yang, Xinyu Mao +2
Robot manipulators operating in uncertain and non-convex environments present significant challenges for safe and optimal motion planning. Existing methods often struggle to provid…
Quantitative Hardness Assessment with Vision-based Tactile Sensing for Fruit Classification and Grasping
Zhongyuan Liao, Yipai Du, Jianghua Duan +2
Accurate estimation of fruit hardness is essential for automated classification and handling systems, particularly in determining fruit variety, assessing ripeness, and ensuring pr…
Large-scale Deployment of Vision-based Tactile Sensors on Multi-fingered Grippers
Meng Wang, Wanlin Li, Hao Liang +4
Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, curre…