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1812.02941
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From pixels to percepts: Highly robust edge perception and contour following using deep learning and an optical biomimetic tactile sensor
7 December 2018
Nathan Lepora
Alex Church
Conrad de Kerckhove
R. Hadsell
John Lloyd
Re-assign community
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Papers citing
"From pixels to percepts: Highly robust edge perception and contour following using deep learning and an optical biomimetic tactile sensor"
50 / 51 papers shown
NeuralTouch: Neural Descriptors for Precise Sim-to-Real Tactile Robot Control
Yijiong Lin
Bowen Deng
Chenghua Lu
Max Yang
Efi Psomopoulou
Nathan Lepora
135
0
0
23 Oct 2025
Representing Data in Robotic Tactile Perception -- A Review
A. Albini
Mohsen Kaboli
G. Cannata
P. Maiolino
143
2
0
12 Oct 2025
Tactile Robotics: An Outlook
IEEE Transactions on robotics (IEEE TRO), 2025
Shan Luo
Nathan Lepora
Wenzhen Yuan
K. Althoefer
Gordon Cheng
R. Dahiya
166
9
0
15 Aug 2025
Shear-based Grasp Control for Multi-fingered Underactuated Tactile Robotic Hands
IEEE Transactions on robotics (IEEE TRO), 2025
Christopher J. Ford
Haoran Li
M. G. Catalano
Matteo Bianchi
Efi Psomopoulou
Nathan Lepora
246
6
0
21 Mar 2025
Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI
Zehua Wang
Weixing Chen
Yongjie Bai
Xiaodan Liang
Guanbin Li
Wen Gao
Liang Lin
LM&Ro
SyDa
AI4CE
654
198
0
09 Jul 2024
When Vision Meets Touch: A Contemporary Review for Visuotactile Sensors from the Signal Processing Perspective
Shoujie Li
Zihan Wang
Changsheng Wu
Xiang Li
Shan Luo
Bin Fang
Fuchun Sun
Xiao-Ping Zhang
Wenbo Ding
AI4TS
263
37
0
18 Jun 2024
TacShade A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction
Zhenyu Lu
Jialong Yang
Haoran Li
Yifan Li
Weiyong Si
Nathan Lepora
Chenguang Yang
165
2
0
01 Jun 2024
Active Exploration for Real-Time Haptic Training
Jake Ketchum
A. Prabhakar
Todd Murphey
163
4
0
20 May 2024
Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects
Zihang Zhao
Yuyang Li
Wanlin Li
Zhenghao Qi
Lecheng Ruan
Yixin Zhu
K. Althoefer
458
28
0
04 Mar 2024
Pose and shear-based tactile servoing
John Lloyd
Nathan Lepora
215
31
0
13 Dec 2023
Tactile Active Inference Reinforcement Learning for Efficient Robotic Manipulation Skill Acquisition
Zihao Liu
Xing Liu
Yizhai Zhang
Zhengxiong Liu
Panfeng Huang
211
4
0
19 Nov 2023
A Vision-Based Tactile Sensing System for Multimodal Contact Information Perception via Neural Network
IEEE Transactions on Instrumentation and Measurement (IEEE Trans. Instrum. Meas.), 2023
Weiliang Xu
Guoyuan Zhou
Yuanzhi Zhou
Zhibin Zou
Jiali Wang
Wenfeng Wu
Xinming Li
222
17
0
03 Oct 2023
Learning Fine Pinch-Grasp Skills using Tactile Sensing from A Few Real-world Demonstrations
Xiaofeng Mao
Yucheng Xu
Ruoshi Wen
Mohammadreza Kasaei
Wanming Yu
Efi Psomopoulou
Nathan Lepora
Zhibin Li
SSL
238
1
0
10 Jul 2023
TacMMs: Tactile Mobile Manipulators for Warehouse Automation
IEEE Robotics and Automation Letters (RA-L), 2023
Zhuochao He
Xuyang Zhang
Simon Jones
Sabine Hauert
Dandan Zhang
Nathan Lepora
142
15
0
29 Jun 2023
A pose and shear-based tactile robotic system for object tracking, surface following and object pushing
John Lloyd
Nathan Lepora
287
0
0
14 Jun 2023
Cable Routing and Assembly using Tactile-driven Motion Primitives
IEEE International Conference on Robotics and Automation (ICRA), 2023
Achu Wilson
Helen Jiang
Wenzhao Lian
Wenzhen Yuan
187
38
0
21 Mar 2023
Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing
IEEE International Conference on Robotics and Automation (ICRA), 2023
Wen Fan
Max Yang
Yifan Xing
Nathan Lepora
Dandan Zhang
153
15
0
05 Mar 2023
Semi-Supervised Disentanglement of Tactile Contact~Geometry from Sliding-Induced Shear
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
A. Gupta
Alex Church
Nathan Lepora
252
2
0
26 Aug 2022
Robot Active Neural Sensing and Planning in Unknown Cluttered Environments
IEEE Transactions on robotics (TRO), 2022
Hanwen Ren
A. H. Qureshi
207
16
0
23 Aug 2022
Mapping Mid-air Haptics with a Low-cost Tactile Robot
IEEE Robotics and Automation Letters (RA-L), 2022
Noor Alakhawand
W. Frier
Nathan Lepora
85
2
0
04 Jul 2022
DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch
IEEE Robotics and Automation Letters (RA-L), 2022
Nathan Lepora
Yijiong Lin
Ben Money-Coomes
John Lloyd
241
76
0
27 Jun 2022
Tac2Pose: Tactile Object Pose Estimation from the First Touch
Maria Bauzá
Antonia Bronars
Alberto Rodriguez
279
63
0
25 Apr 2022
Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints
IEEE International Conference on Robotics and Automation (ICRA), 2022
Xinghao Zhu
Siddarth Jain
Masayoshi Tomizuka
J. Baar
3DH
165
12
0
29 Mar 2022
Functional mimicry of Ruffini receptors with Fiber Bragg Gratings and Deep Neural Networks enables a bio-inspired large-area tactile sensitive skin
Nature Machine Intelligence (Nat. Mach. Intell.), 2022
Luca Massari
Giulia Fransvea
Jessica DÁbbraccio
M. Filosa
Giuseppe Terruso
...
Martina Zaltieri
E. Schena
E. Palermo
E. Sinibaldi
C. Oddo
146
149
0
23 Mar 2022
GradTac: Spatio-Temporal Gradient Based Tactile Sensing
Frontiers in Robotics and AI (Front. Robot. AI), 2022
Kanishka Ganguly
P. Mantripragada
Chethan Parameshwara
Cornelia Fermuller
N. Sanket
Yiannis Aloimonos
104
6
0
14 Mar 2022
Robotic Perception of Object Properties using Tactile Sensing
Jiaqi Jiang
Shan Luo
146
14
0
28 Dec 2021
Active Multi-Object Exploration and Recognition via Tactile Whiskers
IEEE Transactions on robotics (TRO), 2021
Chenxi Xiao
Shujia Xu
Wenzhuo Wu
J. Wachs
262
16
0
08 Sep 2021
Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear
Conference on Robot Learning (CoRL), 2021
A. Gupta
Laurence Aitchison
Nathan Lepora
119
6
0
08 Sep 2021
GelSight Wedge: Measuring High-Resolution 3D Contact Geometry with a Compact Robot Finger
Shaoxiong Wang
Y. She
Branden Romero
Edward H. Adelson
199
152
0
16 Jun 2021
Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation
Alex Church
John Lloyd
R. Hadsell
Nathan Lepora
268
64
0
16 Jun 2021
Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review
IEEE Sensors Journal (IEEE Sens. J.), 2021
Nathan Lepora
260
154
0
30 May 2021
Vision-Guided Active Tactile Perception for Crack Detection and Reconstruction
Jiaqi Jiang
G. Cao
D. F. Gomes
Shan Luo
160
14
0
13 May 2021
Uncertainty-aware deep learning for robot touch: Application to Bayesian tactile servo control
IEEE International Conference on Robotics and Automation (ICRA), 2021
M. F. Vázquez
Nathan Lepora
BDL
155
2
0
29 Apr 2021
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections
IEEE International Conference on Robotics and Automation (ICRA), 2021
Yashraj S. Narang
Balakumar Sundaralingam
Lukasz Wawrzyniak
Arsalan Mousavian
Dieter Fox
259
66
0
31 Mar 2021
Sim-to-Real Transfer for Robotic Manipulation with Tactile Sensory
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021
Zihan Ding
Ya-Yen Tsai
Wang Wei Lee
Bidan Huang
209
39
0
28 Feb 2021
Interpretability in Contact-Rich Manipulation via Kinodynamic Images
IEEE International Conference on Robotics and Automation (ICRA), 2021
Ioanna Mitsioni
Joonatan Mänttäri
Y. Karayiannidis
John Folkesson
Danica Kragic
FAtt
149
3
0
23 Feb 2021
Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands
IEEE International Conference on Robotics and Automation (ICRA), 2021
Nathan Lepora
A. Stinchcombe
C. Ford
A. Brown
John Lloyd
M. G. Catalano
M. Bianchi
Benjamin Ward-Cherrier
213
29
0
05 Feb 2021
SwingBot: Learning Physical Features from In-hand Tactile Exploration for Dynamic Swing-up Manipulation
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2020
Chen Wang
Shaoxiong Wang
Branden Romero
Filipe Veiga
Edward H. Adelson
191
115
0
28 Jan 2021
Interpreting and Predicting Tactile Signals for the SynTouch BioTac
Yashraj S. Narang
Balakumar Sundaralingam
Karl Van Wyk
Arsalan Mousavian
Dieter Fox
178
41
0
14 Jan 2021
Tactile Object Pose Estimation from the First Touch with Geometric Contact Rendering
Conference on Robot Learning (CoRL), 2020
Maria Bauzá
Eric Valls
Bryan Lim
Theo Sechopoulos
Alberto Rodriguez
303
90
0
09 Dec 2020
Pose-Based Tactile Servoing: Controlled Soft Touch using Deep Learning
IEEE robotics & automation magazine (RA), 2020
Nathan Lepora
John Lloyd
169
45
0
04 Dec 2020
Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback
IEEE Transactions on robotics (IEEE Trans. Robot.), 2020
John Lloyd
Nathan Lepora
374
69
0
03 Dec 2020
A Biomimetic Tactile Fingerprint Induces Incipient Slip
J. James
S. Redmond
Nathan Lepora
115
17
0
16 Aug 2020
Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard
IEEE Robotics and Automation Letters (RA-L), 2020
Alex Church
John Lloyd
R. Hadsell
Nathan Lepora
146
33
0
06 Aug 2020
Sim-to-Real Transfer for Optical Tactile Sensing
IEEE International Conference on Robotics and Automation (ICRA), 2020
Zihan Ding
Nathan Lepora
Edward Johns
219
51
0
31 Mar 2020
Optimal Deep Learning for Robot Touch
IEEE robotics & automation magazine (RA), 2020
Nathan Lepora
John Lloyd
221
57
0
04 Mar 2020
Cable Manipulation with a Tactile-Reactive Gripper
Y. She
Shaoxiong Wang
Siyuan Dong
N. Sunil
Alberto Rodriguez
Edward H. Adelson
324
283
0
03 Oct 2019
Learning to Live Life on the Edge: Online Learning for Data-Efficient Tactile Contour Following
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2019
E. A. Stone
Nathan Lepora
David A.W. Barton
113
5
0
12 Sep 2019
Tactile Model O: Fabrication and testing of a 3d-printed, three-fingered tactile robot hand
Soft Robotics (SR), 2019
J. James
Alex Church
Luke Cramphorn
Nathan Lepora
252
51
0
17 Jul 2019
Distinguishing Refracted Features using Light Field Cameras with Application to Structure from Motion
Dorian Tsai
D. Dansereau
T. Peynot
Peter Corke
118
15
0
31 May 2018
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