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To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions.
Mind children: The future of robot and human intelligence
Hans Moravec · 1988
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Reconstructing the shape and motion of unknown objects with active tactile sensors
Mark Moll and Michael A Erdmann · 2004
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Optimal integration of shape information from vision and touch
Hannah B Helbig and Marc O Ernst · 2007
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Unified temporal and spatial calibration for multi-sensor systems
Paul Furgale, Joern Rehder, and Roland Siegwart · 2013
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Vision meets robotics: The KITTI dataset
Andreas Geiger, Philip Lenz, Christoph Stiller, and Raquel Urtasun · 2013
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Automatic generation and detection of highly reliable fiducial markers under occlusion
Sergio Garrido-Jurado, Rafael Muñoz-Salinas, Francisco José Madrid-Cuevas, and Manuel Jesús Marín-Jiménez · 2014
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A benchmark for rgb-d visual odometry, 3d reconstruction and slam
Ankur Handa, Thomas Whelan, John McDonald, and Andrew J Davison · 2014
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Adam: A method for stochastic optimization
Diederik P Kingma and Jimmy Ba · 2014
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Correcting pose estimates during tactile exploration of object shape: a neuro-robotic study
Claudius Strub, Florentin Wörgötter, Helge Ritter, and Yulia Sandamirskaya · 2014
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Shape and pose recovery from planar pushing
Kuan-Ting Yu, John Leonard, and Alberto Rodriguez · 2015
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Past, present, and future of Simultaneous Localization and Mapping: Toward the robust-perception age
Cesar Cadena, Luca Carlone, Henry Carrillo, Yasir Latif, Davide Scaramuzza, José Neira, Ian Reid, and John J Leonard · 2016
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Structure-from-Motion revisited
Johannes L Schonberger and Jan-Michael Frahm · 2016
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Yale-CMU-Berkeley dataset for robotic manipulation research
Berk Calli, Arjun Singh, James Bruce, Aaron Walsman, Kurt Konolige, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M Dollar · 2017
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Factor graphs for robot perception
Frank Dellaert and Michael Kaess · 2017
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Tanks and temples: Benchmarking large-scale scene reconstruction
Arno Knapitsch, Jaesik Park, Qian-Yi Zhou, and Vladlen Koltun · 2017
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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PoseCNN: A convolutional neural network for 6D object pose estimation in cluttered scenes
Yu Xiang, Tanner Schmidt, Venkatraman Narayanan, and Dieter Fox · 2017
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GelSight: High-resolution robot tactile sensors for estimating geometry and force
Wenzhen Yuan, Siyuan Dong, and Edward H Adelson · 2017
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FutureMapping: The computational structure of spatial AI systems
Andrew J Davison · 2018
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Superpoint: Self-supervised interest point detection and description
Daniel DeTone, Tomasz Malisiewicz, and Andrew Rabinovich · 2018
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GelSlim: A high-resolution, compact, robust, and calibrated tactile-sensing finger
Elliott Donlon, Siyuan Dong, Melody Liu, Jianhua Li, Edward Adelson, and Alberto Rodriguez · 2018
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BOP: Benchmark for 6D object pose estimation
Tomas Hodan, Frank Michel, Eric Brachmann, Wadim Kehl, Anders GlentBuch, Dirk Kraft, Bertram Drost, Joel Vidal, Stephan Ihrke, Xenophon Zabulis, et al · 2018
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Learning dexterous in-hand manipulation
OpenAI, Marcin Andrychowicz, Bowen Baker, Maciek Chociej, Rafał Józefowicz, Bob McGrew, Jakub Pachocki, Arthur Petron, Matthias Plappert, Glenn Powell, Alex Ray, Jonas Schneider, Szymon Sidor, Josh Tobin, Peter Welinder, Lilian Weng, and Wojciech Zaremba · 2018
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Deep object pose estimation for semantic robotic grasping of household objects
Jonathan Tremblay, Thang To, Balakumar Sundaralingam, Yu Xiang, Dieter Fox, and Stan Birchfield · 2018
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3D shape perception from monocular vision, touch, and shape priors
Shaoxiong Wang, Jiajun Wu, Xingyuan Sun, Wenzhen Yuan, William T Freeman, Joshua B Tenenbaum, and Edward H Adelson · 2018
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The TacTip family: Soft optical tactile sensors with 3D-printed biomimetic morphologies
Benjamin Ward-Cherrier, Nicholas Pestell, Luke Cramphorn, Benjamin Winstone, Maria Elena Giannaccini, Jonathan Rossiter, and Nathan F Lepora · 2018
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Realtime state estimation with tactile and visual sensing: application to planar manipulation
Kuan-Ting Yu and Alberto Rodriguez · 2018
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Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation
Alex Alspach, Kunimatsu Hashimoto, Naveen Kuppuswamy, and Russ Tedrake · 2019
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Tactile mapping and localization from high-resolution tactile imprints
Maria Bauza, Oleguer Canal, and Alberto Rodriguez · 2019
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ContactGrasp: Functional multi-finger grasp synthesis from contact
Samarth Brahmbhatt, Ankur Handa, James Hays, and Dieter Fox · 2019
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Joint inference of kinematic and force trajectories with visuo-tactile sensing
Alexander Sasha Lambert, Mustafa Mukadam, Balakumar Sundaralingam, Nathan Ratliff, Byron Boots, and Dieter Fox · 2019
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Solving Rubik’s Cube with a robot hand
OpenAI, Ilge Akkaya, Marcin Andrychowicz, Maciek Chociej, Mateusz Litwin, Bob McGrew, Arthur Petron, Alex Paino, Matthias Plappert, Glenn Powell, Raphael Ribas, et al · 2019
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DeepSDF: Learning continuous signed distance functions for shape representation
Jeong Joon Park, Peter Florence, Julian Straub, Richard Newcombe, and Steven Lovegrove · 2019
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What do single-view 3D reconstruction networks learn?
Maxim Tatarchenko, Stephan R Richter, René Ranftl, Zhuwen Li, Vladlen Koltun, and Thomas Brox · 2019
Cited alongside, same era.
An image is worth 16x16 words: Transformers for image recognition at scale
Alexey Dosovitskiy, Lucas Beyer, Alexander Kolesnikov, Dirk Weissenborn, Xiaohua Zhai, Thomas Unterthiner, Mostafa Dehghani, Matthias Minderer, Georg Heigold, Sylvain Gelly, et al · 2020
Cited alongside, same era.
RLbench: The robot learning benchmark and learning environment
Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J Davison · 2020
Cited alongside, same era.
DIGIT: A novel design for a low-cost compact high-resolution tactile sensor with application to in-hand manipulation
Mike Lambeta, Po-Wei Chou, Stephen Tian, Brian Yang, Benjamin Maloon, Victoria Rose Most, Dave Stroud, Raymond Santos, Ahmad Byagowi, Gregg Kammerer, et al · 2020
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OmniTact: A multi-directional high-resolution touch sensor
Akhil Padmanabha, Frederik Ebert, Stephen Tian, Roberto Calandra, Chelsea Finn, and Sergey Levine · 2020
NeRF-SLAM: Real-time dense monocular SLAM with neural radiance fields
Antoni Rosinol, John J Leonard, and Luca Carlone · 2022
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Patchgraph: In-hand tactile tracking with learned surface normals
Paloma Sodhi, Michael Kaess, Mustafa Mukadam, and Stuart Anderson · 2022
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Midastouch: Monte-carlo inference over distributions across sliding touch
Sudharshan Suresh, Zilin Si, Stuart Anderson, Michael Kaess, and Mustafa Mukadam · 2022
Later among the works it cites.
ShapeMap 3-D: Efficient shape mapping through dense touch and vision
Sudharshan Suresh, Zilin Si, Joshua G Mangelson, Wenzhen Yuan, and Michael Kaess · 2022
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TACTO: A fast, flexible, and open-source simulator for high-resolution vision-based tactile sensors
Shaoxiong Wang, Mike Maroje Lambeta, Po-Wei Chou, and Roberto Calandra · 2022
Later among the works it cites.
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Cited alongside, same era.
3D shape reconstruction from vision and touch
Edward J Smith, Roberto Calandra, Adriana Romero, Georgia Gkioxari, David Meger, Jitendra Malik, and Michal Drozdzal · 2020
Cited alongside, same era.
Fourier features let networks learn high frequency functions in low dimensional domains
Matthew Tancik, Pratul Srinivasan, Ben Mildenhall, Sara Fridovich-Keil, Nithin Raghavan, Utkarsh Singhal, Ravi Ramamoorthi, Jonathan Barron, and Ren Ng · 2020
Cited alongside, same era.
Monocular depth estimation for soft visuotactile sensors
Rares Ambrus, Vitor Guizilini, Naveen Kuppuswamy, Andrew Beaulieu, Adrien Gaidon, and Alex Alspach · 2021
Cited alongside, same era.
Mip-nerf: A multiscale representation for anti-aliasing neural radiance fields
Jonathan T Barron, Ben Mildenhall, Matthew Tancik, Peter Hedman, Ricardo Martin-Brualla, and Pratul P Srinivasan · 2021
Cited alongside, same era.
BARF: Bundle-adjusting neural radiance fields
Chen-Hsuan Lin, Wei-Chiu Ma, Antonio Torralba, and Simon Lucey · 2021
Cited alongside, same era.
Isaac Gym: High performance GPU-based physics simulation for robot learning
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, et al · 2021
Cited alongside, same era.
NeRF: Representing scenes as neural radiance fields for view synthesis
Ben Mildenhall, Pratul P Srinivasan, Matthew Tancik, Jonathan T Barron, Ravi Ramamoorthi, and Ren Ng · 2021
Cited alongside, same era.
Youngsun Wi, Andy Zeng, Pete Florence, and Nima Fazeli · 2022
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Neural fields in visual computing and beyond
Yiheng Xie, Towaki Takikawa, Shunsuke Saito, Or Litany, Shiqin Yan, Numair Khan, Federico Tombari, James Tompkin, Vincent Sitzmann, and Srinath Sridhar · 2022
Later among the works it cites.
Touching a NeRF: Leveraging neural radiance fields for tactile sensory data generation
Shaohong Zhong, Alessandro Albini, Oiwi Parker Jones, Perla Maiolino, and Ingmar Posner · 2022
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NICE-SLAM: Neural implicit scalable encoding for SLAM
Zihan Zhu, Songyou Peng, Viktor Larsson, Weiwei Xu, Hujun Bao, Zhaopeng Cui, Martin R Oswald, and Marc Pollefeys · 2022
Later among the works it cites.
Maria Bauza, Antonia Bronars, Yifan Hou, Ian Taylor, Nikhil Chavan-Dafle, and Alberto Rodriguez · 2023
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Visual dexterity: In-hand dexterous manipulation from depth
Tao Chen, Megha Tippur, Siyang Wu, Vikash Kumar, Edward Adelson, and Pulkit Agrawal · 2023
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Sliding touch-based exploration for modeling unknown object shape with multi-fingered hands
Yiting Chen, Ahmet Ercan Tekden, Marc Peter Deisenroth, and Yasemin Bekiroglu · 2023
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Learning a depth covariance function
Eric Dexheimer and Andrew J Davison · 2023
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Neural field representations of articulated objects for robotic manipulation planning
Phillip Grote, Joaquim Ortiz-Haro, Marc Toussaint, and Ozgur S Oguz · 2023
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Dexterity from touch: Self-supervised pre-training of tactile representations with robotic play
Irmak Guzey, Ben Evans, Soumith Chintala, and Lerrel Pinto · 2023
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Learning to read braille: Bridging the tactile reality gap with diffusion models
Carolina Higuera, Byron Boots, and Mustafa Mukadam · 2023
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Lrm: Large reconstruction model for single image to 3d
Yicong Hong, Kai Zhang, Jiuxiang Gu, Sai Bi, Yang Zhou, Difan Liu, Feng Liu, Kalyan Sunkavalli, Trung Bui, and Hao Tan · 2023
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3D Gaussian splatting for real-time radiance field rendering
Bernhard Kerbl, Georgios Kopanas, Thomas Leimkühler, and George Drettakis · 2023
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Optimizing algorithms from pairwise user preferences
Leonid Keselman, Katherine Shih, Martial Hebert, and Aaron Steinfeld · 2023
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Alexander Kirillov, Eric Mintun, Nikhila Ravi, Hanzi Mao, Chloe Rolland, Laura Gustafson, Tete Xiao, Spencer Whitehead, Alexander C Berg, Wan-Yen Lo, et al · 2023
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Differentiable physics simulation of dynamics-augmented neural objects
Simon Le Cleac’h, Hong-Xing Yu, Michelle Guo, Taylor Howell, Ruohan Gao, Jiajun Wu, Zachary Manchester, and Mac Schwager · 2023
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In-hand manipulation of unknown objects with tactile sensing for insertion
Marion Lepert, Chaoyi Pan, Shenli Yuan, Rika Antonova, and Jeannette Bohg · 2023
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Neuralangelo: High-fidelity neural surface reconstruction
Zhaoshuo Li, Thomas Müller, Alex Evans, Russell H Taylor, Mathias Unberath, Ming-Yu Liu, and Chen-Hsuan Lin · 2023
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General in-hand object rotation with vision and touch
Haozhi Qi, Brent Yi, Sudharshan Suresh, Mike Lambeta, Yi Ma, Roberto Calandra, and Jitendra Malik · 2023
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Revopoint POP 3 3D Scanner, 2023
Revopoint · 2023
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Diff-dope: Differentiable deep object pose estimation
Jonathan Tremblay, Bowen Wen, Valts Blukis, Balakumar Sundaralingam, Stephen Tyree, and Stan Birchfield · 2023
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Bundlesdf: Neural 6-dof tracking and 3d reconstruction of unknown objects
Bowen Wen, Jonathan Tremblay, Valts Blukis, Stephen Tyree, Thomas Müller, Alex Evans, Dieter Fox, Jan Kautz, and Stan Birchfield · 2023
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Allegro Hand, 2023
Wonik Robotics · 2023
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Multiview compressive coding for 3D reconstruction
Chao-Yuan Wu, Justin Johnson, Jitendra Malik, Christoph Feichtenhofer, and Georgia Gkioxari · 2023
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Rotating without seeing: Towards in-hand dexterity through touch
Zhao-Heng Yin, Binghao Huang, Yuzhe Qin, Qifeng Chen, and Xiaolong Wang · 2023
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Faster segment anything: Towards lightweight sam for mobile applications
Chaoning Zhang, Dongshen Han, Yu Qiao, Jung Uk Kim, Sung-Ho Bae, Seungkyu Lee, and Choong Seon Hong · 2023
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FingerSLAM: Closed-loop unknown object localization and reconstruction from visuo-tactile feedback
Jialiang Zhao, Maria Bauza, and Edward H Adelson · 2023
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