4 papers
Apple: Toward General Active Perception via Reinforcement Learning
Tim Schneider, Cristiana de Farias, Roberto Calandra +2
Active perception is a fundamental skill that enables us humans to deal with uncertainty in our inherently partially observable environment. For senses such as touch, where the inf…
GaussTwin: Unified Simulation and Correction with Gaussian Splatting for Robotic Digital Twins
Yichen Cai, Paul Jansonnie, Cristiana de Farias +2
Digital twins promise to enhance robotic manipulation by maintaining a consistent link between real-world perception and simulation. However, most existing systems struggle with th…
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…