4 papers
Multi-Resolution Tactile Imitation Learning for Contact-Rich Robotic Manipulation
Rickmer Krohn, Erik Helmut, Niklas Funk +3
Touch sensing is beneficial for solving a wide variety of manipulation tasks. While there exists a wide range of tactile sensors with different properties, exploiting the fusion of…
Neuromorphic BrailleNet: Accurate and Generalizable Braille Reading Beyond Single Characters through Event-Based Optical Tactile Sensing
Naqash Afzal, Niklas Funk, Erik Helmut +2
Conventional robotic Braille readers typically rely on discrete, character-by-character scanning, limiting reading speed and disrupting natural flow. Vision-based alternatives ofte…
Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor Based on Finite Element Analysis
Erik Helmut, Luca Dziarski, Niklas Funk +2
Contact-rich manipulation remains a major challenge in robotics. Optical tactile sensors like GelSight Mini offer a low-cost solution for contact sensing by capturing soft-body def…
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…