Abstract: A method performed by an optical tactile sensor comprising a camera, includes: measuring a plurality of relations between the optical tactile sensor and an object; detecting a contact of a membrane on the object; detecting a plurality of markers on the membrane; performing a plurality of first operations by using a tactile perception module; and performing a second operation by using a three-dimensional (3D) perception module, based on a result of the performing of the plurality of first operations.

Abstract: A method for controlling a robot including a manipulator is provided. The method may include: acquiring an image of a scene including a target object; inputting the image into a control policy model to obtain an object placement pose of the manipulator, as an output of the control policy model, wherein the control policy model is generated using data collected by a data collection system that is configured to acquire an object retrieval trajectory by observing a robot movement for object retrieval, and reverse the object retrieval trajectory into an object placement trajectory; and commanding the robot to position the manipulator according to the object placement pose, to place the target object at a designated location.

Abstract: A method for identifying and manipulating objects may include obtaining, from an image sensor, image sensor data; identifying, using the image sensor data, a location of an object; controlling a robotic element, which includes the image sensor, to move towards the location of the object; determining a slippage based on contact between the image sensor and the object; and controlling a movement of the robotic element based on the determined slippage.

Abstract: A method of sensing an interaction with an object using a semitransparent tactile surface (STS) sensor having an image sensor and a semitransparent membrane includes capturing, by the image sensor, a stream of images; separating the stream of images into a visual stream including light traveling through the semitransparent membrane and a tactile stream including light reflecting off of the semitransparent membrane; and processing the visual stream and tactile stream through a multimodal deep neural network.

Abstract: A method of sensing an interaction with an object using a semitransparent tactile surface (STS) sensor having an image sensor and a semitransparent membrane includes capturing, by the image sensor, a stream of images; separating the stream of images into a visual stream including light traveling through the semitransparent membrane and a tactile stream including light reflecting off of the semitransparent membrane; and processing the visual stream and tactile stream through a multimodal deep neural network.