8 papers · 1 filter
Cross-Sensor Touch Generation
Samanta Rodriguez, Yiming Dou, Miquel Oller +2
Today's visuo-tactile sensors come in many shapes and sizes, making it challenging to develop general-purpose tactile representations. This is because most models are tied to a spe…
Hydrosoft: Non-Holonomic Hydroelastic Models for Compliant Tactile Manipulation
Miquel Oller, An Dang, Nima Fazeli
Tactile sensors have long been valued for their perceptual capabilities, offering rich insights into the otherwise hidden interface between the robot and grasped objects. Yet their…
Estimating Deformable-Rigid Contact Interactions for a Deformable Tool via Learning and Model-Based Optimization
Mark Van der Merwe, Miquel Oller, Dmitry Berenson +1
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasin…
Neural Inverse Source Problems
Youngsun Wi, Jayjun Lee, Miquel Oller +1
Reconstructing unknown external source functions is an important perception capability for a large range of robotics domains including manipulation, aerial, and underwater robotics…
Contrastive Touch-to-Touch Pretraining
Samanta Rodriguez, Yiming Dou, William van den Bogert +4
Today's tactile sensors have a variety of different designs, making it challenging to develop general-purpose methods for processing touch signals. In this paper, we learn a unifie…
Tactile Neural De-rendering
Jose A. Eyzaguirre, Miquel Oller, Nima Fazeli
Tactile sensing has proven to be an invaluable tool for enhancing robotic perception, particularly in scenarios where visual data is limited or unavailable. However, traditional me…