4 papers
Zero-Shot Transfer of Force Map Estimation Across GelSight Mini Sensors
Julio Castaño Amoros, Pablo Gil
Despite the rapid industrialization of the touch sensor manufacturing process, most of these sensors are still handmade in research laboratories. This complicates standardizing the…
Learning Dexterous Object Handover
Daniel Frau-Alfaro, Julio Castaño-Amoros, Santiago Puente +2
Object handover is an important skill that we use daily when interacting with other humans. To deploy robots in collaborative setting, like houses, being able to receive and handin…
Grasping Force Estimation for Markerless Visuotactile Sensors
Julio Castaño-Amoros, Pablo Gil
Tactile sensors have been used for force estimation in the past, especially Vision-Based Tactile Sensors (VBTS) have recently become a new trend due to their high spatial resolutio…
QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity
Johann Huber, François Hélénon, Mathilde Kappel +5
Recent advances in AI have led to significant results in robotic learning, but skills like grasping remain partially solved. Many recent works exploit synthetic grasping datasets t…