Today's touch sensors come in many shapes and sizes. This has made it challenging to
develop general-purpose touch processing methods since models are generally tied to one …

This work develops a data-efficient learning from demonstration framework which exploits
the use of rich tactile sensing and achieves fine dexterous bimanual manipulation …

Robotic manipulation tasks such as object insertion typically involve interactions between
object and environment, namely extrinsic contacts. Prior work on Neural Contact Fields …

Tactile sensors, which provide information about the physical properties of objects, are an
essential component of robotic systems. The visuotactile sensing technology with the merits …

In this paper, we propose a method for estimating in-hand object poses using proprioception
and tactile feedback from a bimanual robotic system. Our method addresses the problem of …

In this paper, we consider the problem of nonprehensile manipulation using grasped
objects. This problem is a superset of many common manipulation skills including instances …

Tactile sensors play a pivotal role in enhancing robotic gripping systems across various
industries, allowing robots to interact with their environment with precision and adaptability …

Soft-bubble tactile sensors have the potential to capture dense contact and force information
across a large contact surface. However, it is difficult to extract contact forces directly from …

Tactile sensing provides robots with rich feedback during manipulation, enabling a host of
perception and controls capabilities. Here, we present a new open-source, vision-based …

It is desired to equip robots with the capability of interacting with various soft materials as
they are ubiquitous in the real world. While physics simulations are one of the predominant …