Embodied Artificial Intelligence (Embodied AI) is crucial for achieving Artificial General
Intelligence (AGI) and serves as a foundation for various applications that bridge cyberspace …

The robotic with integrated tactile sensors can accurately perceive contact force, pressure,
vibration, temperature and other tactile stimuli. Flexible tactile sensing technologies have …

Shared perception between robotic systems significantly enhances their ability to
understand and interact with their environment, leading to improved performance and …

Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1)
provide useful information before contact such as object pose estimates and visually servo a …

In this letter, we introduce ViHOPE, a novel framework for estimating the 6D pose of an in-
hand object using visuotactile perception. Our key insight is that the accuracy of the 6D …

Tactile sensing is a necessary capability for a robotic hand to perform fine manipulations
and interact with the environment. Optical sensors are a promising solution for high …

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 …

This paper proposes a method to estimate the 6D pose of an object grasped by a robot hand
using RGB cameras mounted on the palm and visuotactile sensors installed at the fingertips …

In this paper, we address the problem of estimating the in-hand 6D pose of an object in
contact with multiple vision-based tactile sensors. We reason on the possible spatial …

Joint estimation of grasped object pose and extrinsic contacts is central to robust and
dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that …