4 papers
Tactile-Conditioned Diffusion Policy for Force-Aware Robotic Manipulation
Erik Helmut, Niklas Funk, Tim Schneider +2
Contact-rich manipulation depends on applying the correct grasp forces throughout the manipulation task, especially when handling fragile or deformable objects. Most existing imita…
Tactile MNIST: Benchmarking Active Tactile Perception
Tim Schneider, Guillaume Duret, Cristiana de Farias +3
Tactile perception has the potential to significantly enhance dexterous robotic manipulation by providing rich local information that can complement or substitute for other sensory…
Particle-based 6D Object Pose Estimation from Point Clouds using Diffusion Models
Christian Möller, Niklas Funk, Jan Peters
Object pose estimation from a single view remains a challenging problem. In particular, partial observability, occlusions, and object symmetries eventually result in pose ambiguity…
TacEx: GelSight Tactile Simulation in Isaac Sim -- Combining Soft-Body and Visuotactile Simulators
Duc Huy Nguyen, Tim Schneider, Guillaume Duret +3
Training robot policies in simulation is becoming increasingly popular; nevertheless, a precise, reliable, and easy-to-use tactile simulator for contact-rich manipulation tasks is…