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SymmeTac: Symmetric Color LED Driven Efficient Photometric Stereo Reconstruction Methods for Camera-based Tactile Sensors

Autor: Ren, Jieji, Guo, Heng, Yang, Zaiyan, Zhang, Jinnuo, Dong, Yueshi, Zhang, Ningbin, Shi, Boxin, Zou, Jiang, Gu, Guoying

Camera-based tactile sensors can provide high-density surface geometry and force information for robots in the interaction process with the target. However, most existing methods cannot achieve accurate reconstruction with high efficiency, impeding t

Externí odkaz: http://arxiv.org/abs/2411.06377

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TacIPC: Intersection- and Inversion-free FEM-based Elastomer Simulation For Optical Tactile Sensors

Autor: Du, Wenxin, Xu, Wenqiang, Ren, Jieji, Yu, Zhenjun, Lu, Cewu

Tactile perception stands as a critical sensory modality for human interaction with the environment. Among various tactile sensor techniques, optical sensor-based approaches have gained traction, notably for producing high-resolution tactile images.

Externí odkaz: http://arxiv.org/abs/2311.05843

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Differentiable Fluid Physics Parameter Identification Via Stirring

Autor: Xu, Wenqiang, Zheng, Dongzhe, Li, Yutong, Ren, Jieji, Lu, Cewu

Fluid interactions permeate daily human activities, with properties like density and viscosity playing pivotal roles in household tasks. While density estimation is straightforward through Archimedes' principle, viscosity poses a more intricate chall

Externí odkaz: http://arxiv.org/abs/2311.05137

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Precise Robotic Needle-Threading with Tactile Perception and Reinforcement Learning

Autor: Yu, Zhenjun, Xu, Wenqiang, Yao, Siqiong, Ren, Jieji, Tang, Tutian, Li, Yutong, Gu, Guoying, Lu, Cewu

This work presents a novel tactile perception-based method, named T-NT, for performing the needle-threading task, an application of deformable linear object (DLO) manipulation. This task is divided into two main stages: Tail-end Finding and Tail-end

Externí odkaz: http://arxiv.org/abs/2311.02396

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AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wild

Autor: Fang, Hongjie, Fang, Hao-Shu, Wang, Yiming, Ren, Jieji, Chen, Jingjing, Zhang, Ruo, Wang, Weiming, Lu, Cewu

While humans can use parts of their arms other than the hands for manipulations like gathering and supporting, whether robots can effectively learn and perform the same type of operations remains relatively unexplored. As these manipulations require

Externí odkaz: http://arxiv.org/abs/2309.14975

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