We introduce Rotateit, a system that enables fingertip-based object rotation along multiple
axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where it …

Assistive robots have the potential to support disabled and elderly people in daily dressing
activities. An intermediate stage of dressing is to manipulate the garment from a crumpled …

The Advancements in tactile sensors and machine learning techniques open new
opportunities for achieving intelligent grasping in robotics. Traditional robot is limited in its …

Camera-based tactile sensing is a low-cost, popular approach to obtain highly detailed
contact geometry information. However, most existing camera-based tactile sensors are …

Tactile and visual perception are both crucial for humans to perform fine-grained interactions
with their environment. Developing similar multi-modal sensing capabilities for robots can …

Deformable object manipulation presents a unique set of challenges in robotic manipulation
by exhibiting high degrees of freedom and severe self-occlusion. Choosing state …

Humans make extensive use of vision and touch as complementary senses, with vision
providing global information about the scene and touch measuring local information during …

We introduce a novel approach that combines tactile estimation and control for in-hand
object manipulation. By integrating measurements from robot kinematics and an image …

Garment manipulation (eg unfolding folding and hanging clothes) is essential for future
robots to accomplish home-assistant tasks while highly challenging due to the diversity of …

Camera-based tactile sensors can provide high resolution positional and local geometry
information for robotic manipulation. Curved and rounded fingers are often advantageous …