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cs.RO2024
SeeBelow: Sub-dermal 3D Reconstruction of Tumors with Surgical Robotic Palpation and Tactile Exploration
Raghava Uppuluri, Abhinaba Bhattacharjee, Sohel Anwar +1
Surgical scene understanding in Robot-assisted Minimally Invasive Surgery (RMIS) is highly reliant on visual cues and lacks tactile perception. Force-modulated surgical palpation w…
cs.RO2024
UniT: Data Efficient Tactile Representation with Generalization to Unseen Objects
Zhengtong Xu, Raghava Uppuluri, Xinwei Zhang +5
UniT is an approach to tactile representation learning, using VQGAN to learn a compact latent space and serve as the tactile representation. It uses tactile images obtained from a…
cs.RO2024
Robot Tape Manipulation for 3D Printing
Nahid Tushar, Rencheng Wu, Yu She +2
3D printing has enabled various applications using different forms of materials, such as filaments, sheets, and inks. Typically, during 3D printing, feedstocks are transformed into…