The ability to associate touch with other modalities has huge implications for humans and
computational systems. However multimodal learning with touch remains challenging due to …

To achieve human-level dexterity, robots must infer spatial awareness from multimodal
sensing to reason over contact interactions. During in-hand manipulation of novel objects …

Executing contact-rich manipulation tasks necessitates the fusion of tactile and visual
feedback. However, the distinct nature of these modalities poses significant challenges. In …

Tactile information plays a critical role in human dexterity. It reveals useful contact
information that may not be inferred directly from vision. In fact, humans can even perform in …

In this work, we propose a novel method to supervise 3D Gaussian Splatting (3DGS) scenes
using optical tactile sensors. Optical tactile sensors have become widespread in their use in …

Human-like robot hands provide the flexibility to manipulate a variety of objects that are
found in unstructured environments. Knowledge of object properties and motion trajectory is …

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 …

Efficient and accurate 3D object shape reconstruction contributes significantly to the success
of a robot's physical interaction with its environment. Acquiring accurate shape information …

GelStereo sensing technology is capable of performing three-dimensional (3D) contact
shape measurement under various contact structures such as bionic curved surfaces, which …

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 …