6 papers · 1 filter
What to Attend, What to Keep: Skill-Conditioned Visuotactile Representation with Progress-Guided Event Memory
Amir-Hossein Shahidzadeh, Seungjae Lee, Eadom Dessalene +5
Robotic manipulation integrates vision, touch, and language, whose importance shifts across stages: vision guides reaching, while touch, through its evolution over time, decides gr…
: A Scalable 3D Interaction-Trace World Model
Seungjae Lee, Yoonkyo Jung, Jusuk Lee +6
World models that capture how actions induce physical change enable scalable robot learning without reliance on embodiment-specific action labels. Pixel-space video models provide…
NavMoE: Hybrid Model- and Learning-based Traversability Estimation for Local Navigation via Mixture of Experts
Botao He, Amir Hossein Shahidzadeh, Yu Chen +8
This paper explores traversability estimation for robot navigation. A key bottleneck in traversability estimation lies in efficiently achieving reliable and robust predictions whil…
Object Pose Estimation through Dexterous Touch
Amir-Hossein Shahidzadeh, Jiyue Zhu, Kezhou Chen +4
Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occl…
FeelAnyForce: Estimating Contact Force Feedback from Tactile Sensation for Vision-Based Tactile Sensors
Amir-Hossein Shahidzadeh, Gabriele Caddeo, Koushik Alapati +3
In this paper, we tackle the problem of estimating 3D contact forces using vision-based tactile sensors. In particular, our goal is to estimate contact forces over a large range (u…
AcTExplore: Active Tactile Exploration of Unknown Objects
Amir-Hossein Shahidzadeh, Seong Jong Yoo, Pavan Mantripragada +3
Tactile exploration plays a crucial role in understanding object structures for fundamental robotics tasks such as grasping and manipulation. However, efficiently exploring such ob…