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Humans can accomplish complex contact-rich tasks using vision and touch, with highly reactive capabilities such as fast response to external changes and adaptive control of contact forces; however, this remains challenging for robots.
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J Randall Flanagan, Miles C Bowman, and Roland S Johansson · 2006
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Sensory input and control of grip
Roland S Johansson · 2007
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Biomimetic tactile sensor array
Nicholas Wettels, Veronica J Santos, Roland S Johansson, and Gerald E Loeb · 2008
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Coding and use of tactile signals from the fingertips in object manipulation tasks
Roland S Johansson and J Randall Flanagan · 2009
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Bayesian learning via stochastic gradient langevin dynamics
Max Welling and Yee W Teh · 2011
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Tactile sensing over articulated joints with stretchable sensors
Tapomayukh Bhattacharjee, Advait Jain, Sarvagya Vaish, Marc D Killpack, and Charles C Kemp · 2013
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Auto-encoding variational bayes
Diederik P Kingma · 2013
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On the properties of neural machine translation: Encoder-decoder approaches
Kyunghyun Cho · 2014
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Flexible tactile sensing based on piezoresistive composites: A review
Stefano Stassi, Valentina Cauda, Giancarlo Canavese, and Candido Fabrizio Pirri · 2014
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Stretch not flex: programmable rubber keyboard
Daniel Xu, Andreas Tairych, and Iain A Anderson · 2015
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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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Film: Visual reasoning with a general conditioning layer
Ethan Perez, Florian Strub, Harm De Vries, Vincent Dumoulin, and Aaron Courville · 2018
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A new silicone structure for uskin—a soft, distributed, digital 3-axis skin sensor and its integration on the humanoid robot icub
Tito Pradhono Tomo, Massimo Regoli, Alexander Schmitz, Lorenzo Natale, Harris Kristanto, Sophon Somlor, Lorenzo Jamone, Giorgio Metta, and Shigeki Sugano · 2018
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Deformation capture via soft and stretchable sensor arrays
Oliver Glauser, Daniele Panozzo, Otmar Hilliges, and Olga Sorkine-Hornung · 2019
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Soft magnetic skin for continuous deformation sensing
Tess Hellebrekers, Oliver Kroemer, and Carmel Majidi · 2019
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Learning the signatures of the human grasp using a scalable tactile glove
Subramanian Sundaram, Petr Kellnhofer, Yunzhu Li, Jun-Yan Zhu, Antonio Torralba, and Wojciech Matusik · 2019
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Effective estimation of contact force and torque for vision-based tactile sensors with helmholtz–hodge decomposition
Yazhan Zhang, Zicheng Kan, Yang Yang, Yu Alexander Tse, and Michael Yu Wang · 2019
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Soft-bubble grippers for robust and perceptive manipulation
Naveen Kuppuswamy, Alex Alspach, Avinash Uttamchandani, Sam Creasey, Takuya Ikeda, and Russ Tedrake · 2020
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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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Capacitivo: Contact-based object recognition on interactive fabrics using capacitive sensing
Te-Yen Wu, Lu Tan, Yuji Zhang, Teddy Seyed, and Xing-Dong Yang · 2020
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Reskin: versatile, replaceable, lasting tactile skins
Raunaq Bhirangi, Tess Hellebrekers, Carmel Majidi, and Abhinav Gupta · 2021
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Soft magnetic skin for super-resolution tactile sensing with force self-decoupling
Youcan Yan, Zhe Hu, Zhengbao Yang, Wenzhen Yuan, Chaoyang Song, Jia Pan, and Yajing Shen · 2021
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Action chunking as policy compression
Lucy Lai, Ann Zixiang Huang, and Samuel J Gershman · 2022
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High-resolution image synthesis with latent diffusion models
Robin Rombach, Andreas Blattmann, Dominik Lorenz, Patrick Esser, and Björn Ommer · 2022
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Gelslim 3.0: High-resolution measurement of shape, force and slip in a compact tactile-sensing finger
Ian H Taylor, Siyuan Dong, and Alberto Rodriguez · 2022
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song · 2023
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Dtact: A vision-based tactile sensor that measures high-resolution 3d geometry directly from darkness
Changyi Lin, Ziqi Lin, Shaoxiong Wang, and Huazhe Xu · 2023
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Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system
Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, and Dieter Fox · 2023
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See to touch: Learning tactile dexterity through visual incentives
Irmak Guzey, Yinlong Dai, Ben Evans, Soumith Chintala, and Lerrel Pinto · 2024
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Foar: Force-aware reactive policy for contact-rich robotic manipulation
Zihao He, Hongjie Fang, Jingjing Chen, Hao-Shu Fang, and Cewu Lu · 2024
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Adaptive compliance policy: Learning approximate compliance for diffusion guided control
Yifan Hou, Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Siyuan Feng, Benjamin Burchfiel, and Shuran Song · 2024
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3d vitac:learning fine-grained manipulation with visuo-tactile sensing
Binghao Huang, Yixuan Wang, Xinyi Yang, Yiyue Luo, and Yunzhu Li · 2024
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Open teach: A versatile teleoperation system for robotic manipulation
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Mc-tac: Modular camera-based tactile sensor for robot gripper
Jieji Ren, Jiang Zou, and Guoying Gu · 2023
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Precise robotic needle-threading with tactile perception and reinforcement learning
Zhenjun Yu, Wenqiang Xu, Siqiong Yao, Jieji Ren, Tutian Tang, Yutong Li, Guoying Gu, and Cewu Lu · 2023
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Learning diffusion policies from demonstrations for compliant contact-rich manipulation
Malek Aburub, Cristian C Beltran-Hernandez, Tatsuya Kamijo, and Masashi Hamaya · 2024
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Robopack: Learning tactile-informed dynamics models for dense packing
Bo Ai, Stephen Tian, Haochen Shi, Yixuan Wang, Cheston Tan, Yunzhu Li, and Jiajun Wu · 2024
Cited alongside, same era.
https://www.ati-ia.com/products/ft/ft_models.aspx?id=mini45 , 2024
ATI mini45 force/torque sensor · 2024
Cited alongside, same era.
Anyskin: Plug-and-play skin sensing for robotic touch
Raunaq Bhirangi, Venkatesh Pattabiraman, Enes Erciyes, Yifeng Cao, Tess Hellebrekers, and Lerrel Pinto · 2024
Cited alongside, same era.
π 0 \pi_{0} : A Vision-Language-Action Flow Model for General Robot Control
Kevin Black, Noah Brown, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, Lachy Groom, Karol Hausman, Brian Ichter, et al · 2024
Cited alongside, same era.
Aadhithya Iyer, Zhuoran Peng, Yinlong Dai, Irmak Guzey, Siddhant Haldar, Soumith Chintala, and Lerrel Pinto · 2024
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Learning variable compliance control from a few demonstrations for bimanual robot with haptic feedback teleoperation system
Tatsuya Kamijo, Cristian C Beltran-Hernandez, and Masashi Hamaya · 2024
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Masato Kobayashi, Thanpimon Buamanee, and Takumi Kobayashi · 2024
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Learning visuotactile skills with two multifingered hands
Toru Lin, Yu Zhang, Qiyang Li, Haozhi Qi, Brent Yi, Sergey Levine, and Jitendra Malik · 2024
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Wenhai Liu, Junbo Wang, Yiming Wang, Weiming Wang, and Cewu Lu · 2024
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Tactile-driven non-prehensile object manipulation via extrinsic contact mode control
Miquel Oller, Dmitry Berenson, and Nima Fazeli · 2024
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https://opencv.org/ , 2024
OpenCV · 2024
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Learning precise, contact-rich manipulation through uncalibrated tactile skins
Venkatesh Pattabiraman, Yifeng Cao, Siddhant Haldar, Lerrel Pinto, and Raunaq Bhirangi · 2024
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https://www.forcedimension.com/products/sigma , 2024
Sigma-7 haptic inteface · 2024
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Gelslim 4.0: Focusing on touch and reproducibility
Andrea Sipos, William van den Bogert, and Nima Fazeli · 2024
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Gello: A general, low-cost, and intuitive teleoperation framework for robot manipulators
Philipp Wu, Yide Shentu, Zhongke Yi, Xingyu Lin, and Pieter Abbeel · 2024
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Boxin Xu, Luoyan Zhong, Grace Zhang, Xiaoyu Liang, Diego Virtue, Rishabh Madan, and Tapomayukh Bhattacharjee · 2024
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Morpheus: a multimodal one-armed robot-assisted peeling system with human users in-the-loop
Ruolin Ye, Yifei Hu, Yuhan Anjelica Bian, Luke Kulm, and Tapomayukh Bhattacharjee · 2024
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Mimictouch: Leveraging multi-modal human tactile demonstrations for contact-rich manipulation
Kelin Yu, Yunhai Han, Qixian Wang, Vaibhav Saxena, Danfei Xu, and Ye Zhao · 2024
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Robot synesthesia: In-hand manipulation with visuotactile sensing
Ying Yuan, Haichuan Che, Yuzhe Qin, Binghao Huang, Zhao-Heng Yin, Kang-Won Lee, Yi Wu, Soo-Chul Lim, and Xiaolong Wang · 2024
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3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations
Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 2024
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Contact compliance visuo-proprioceptive policy for contact-rich manipulation with cost-efficient haptic hand-arm teleoperation system
Bo Zhou, Ruixuan Jiao, Yi Li, Fang Fang, and Fu Chen · 2024
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Beyond sight: Finetuning generalist robot policies with heterogeneous sensors via language grounding
Joshua Jones, Oier Mees, Carmelo Sferrazza, Kyle Stachowicz, Pieter Abbeel, and Sergey Levine · 2025
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Mctac-2.0, 01 2025
mctac 2.0 · 2025
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