Towards Human-in-the-Loop Shared Control for Upper-Limb Prostheses: A Systematic Analysis of State-of-the-Art Technologies
Dexterous prosthetic hand is an essential rehabilitation assistant device to improve the life
quality of amputee patients. Despite the continuous emergence of commercial prostheses …
quality of amputee patients. Despite the continuous emergence of commercial prostheses …
The objectfolder benchmark: Multisensory learning with neural and real objects
Abstract We introduce the ObjectFolder Benchmark, a benchmark suite of 10 tasks for
multisensory object-centric learning, centered around object recognition, reconstruction, and …
multisensory object-centric learning, centered around object recognition, reconstruction, and …
Shared visuo-tactile interactive perception for robust object pose estimation
Shared perception between robotic systems significantly enhances their ability to
understand and interact with their environment, leading to improved performance and …
understand and interact with their environment, leading to improved performance and …
Touchsdf: A deepsdf approach for 3d shape reconstruction using vision-based tactile sensing
Humans rely on their visual and tactile senses to develop a comprehensive 3D
understanding of their physical environment. Recently, there has been a growing interest in …
understanding of their physical environment. Recently, there has been a growing interest in …
Vitract: robust object shape perception via active visuo-tactile interaction
An essential problem in robotic systems that are to be deployed in unstructured
environments is the accurate and autonomous perception of the shapes of previously …
environments is the accurate and autonomous perception of the shapes of previously …
Efficient visuo-haptic object shape completion for robot manipulation
For robot manipulation, a complete and accurate object shape is desirable. Here, we
present a method that combines visual and haptic reconstruction in a closed-loop pipeline …
present a method that combines visual and haptic reconstruction in a closed-loop pipeline …
Hierarchical Graph Neural Networks for Proprioceptive 6D Pose Estimation of In-hand Objects
Robotic manipulation, in particular in-hand object manipulation, often requires an accurate
estimate of the object's 6D pose. To improve the accuracy of the estimated pose, state-of-the …
estimate of the object's 6D pose. To improve the accuracy of the estimated pose, state-of-the …
TransTouch: Learning Transparent Objects Depth Sensing Through Sparse Touches
Transparent objects are common in daily life. However, depth sensing for transparent
objects remains a challenging problem. While learning-based methods can leverage shape …
objects remains a challenging problem. While learning-based methods can leverage shape …
Object-aware interactive perception for tabletop scene exploration
Recent advancements in sensors and deep learning techniques have improved reliability of
robotic perceptual systems, but current systems are not robust enough for real-world …
robotic perceptual systems, but current systems are not robust enough for real-world …
Enhancing generalizable 6d pose tracking of an in-hand object with tactile sensing
When manipulating an object to accomplish complex tasks, humans rely on both vision and
touch to keep track of the object's 6D pose. However, most existing object pose tracking …
touch to keep track of the object's 6D pose. However, most existing object pose tracking …