5 papers
Event Cameras versus Frame Cameras for Synthetic-Aperture Imaging: A Simulation Study
Jakob Hinterholzer, Mohamed Youssef, Oliver Bimber
Synthetic-aperture imaging (SAI) removes occluders such as foliage by integrating many views of a scene along a camera path. It has so far been used mainly with frame cameras. We a…
Robust In-Hand Manipulation via Priors in Reinforcement Learning and Mechanical Design
Yifei Chen, Shihan Lu, Ed Colgate +1
In-hand manipulation without external sensing is challenging due to uncertainties from finger-object contacts and disturbances by gravity. While reinforcement learning has shown pr…
Language-Guided Multimodal Texture Authoring via Generative Models
Wanli Qian, Aiden Chang, Shihan Lu +2
Authoring realistic haptic textures typically requires low-level parameter tuning and repeated trial-and-error, limiting speed, transparency, and creative reach. We present a langu…
Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation
Guo Ye, Zexi Zhang, Xu Zhao +4
Vision-Language-Action (VLA) models have shown remarkable generalization by mapping web-scale knowledge to robotic control, yet they remain blind to physical contact. Consequently,…
Active Acoustic Sensing for Robot Manipulation
Shihan Lu, Heather Culbertson
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is diff…