4 papers
TouchAnything: Diffusion-Guided 3D Reconstruction from Sparse Robot Touches
Langzhe Gu, Hung-Jui Huang, Mohamad Qadri +2
Accurate object geometry estimation is essential for many downstream tasks, including robotic manipulation and physical interaction. Although vision is the dominant modality for sh…
GelSLAM: A Real-time, High-Fidelity, and Robust 3D Tactile SLAM System
Hung-Jui Huang, Mohammad Amin Mirzaee, Michael Kaess +1
Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in p…
FusionSense: Bridging Common Sense, Vision, and Touch for Robust Sparse-View Reconstruction
Irving Fang, Kairui Shi, Xujin He +7
Humans effortlessly integrate common-sense knowledge with sensory input from vision and touch to understand their surroundings. Emulating this capability, we introduce FusionSense,…
Kitchen Artist: Precise Control of Liquid Dispensing for Gourmet Plating
Hung-Jui Huang, Jingyi Xiang, Wenzhen Yuan
Manipulating liquid is widely required for many tasks, especially in cooking. A common way to address this is extruding viscous liquid from a squeeze bottle. In this work, our goal…