9 papers
Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning
Shilin Shan, Chuhao Zhou, Ruize Wang +30
Physically grounded robot intelligence requires robots to perceive, reason about, and regulate their interactions with the physical world. This capability is particularly critical…
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…
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…
On the Importance of Tactile Sensing for Imitation Learning: A Case Study on Robotic Match Lighting
Niklas Funk, Changqi Chen, Tim Schneider +3
The field of robotic manipulation has advanced significantly in recent years. At the sensing level, several novel tactile sensors have been developed, capable of providing accurate…
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…