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Grasp Stability Prediction with Sim-to-Real Transfer from Tactile Sensing


Aug 04, 2022
Zilin Si , Zirui Zhu , Arpit Agarwal , Stuart Anderson , Wenzhen Yuan


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Understanding Dynamic Tactile Sensing for Liquid Property Estimation


May 18, 2022
Hung-Jui Huang , Xiaofeng Guo , Wenzhen Yuan

* Robotics Science and System 2022 

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Using Collocated Vision and Tactile Sensors for Visual Servoing and Localization


Apr 27, 2022
Arkadeep Narayan Chaudhury , Timothy Man , Wenzhen Yuan , Christopher G. Atkeson

* IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 3427-3434, April 2022 
* This archival version of the manuscript is significantly different in content from the reviewed and published version. The published version can be accessed here: https://ieeexplore.ieee.org/document/9699405. Supplementary materials can be accessed here: https://arkadeepnc.github.io/projects/collocated_vision_touch/index.html 

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ObjectFolder 2.0: A Multisensory Object Dataset for Sim2Real Transfer


Apr 05, 2022
Ruohan Gao , Zilin Si , Yen-Yu Chang , Samuel Clarke , Jeannette Bohg , Li Fei-Fei , Wenzhen Yuan , Jiajun Wu

* In CVPR 2022. Gao, Si, and Chang contributed equally to this work. Project page: https://ai.stanford.edu/~rhgao/objectfolder2.0/ 

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Efficient shape mapping through dense touch and vision


Sep 20, 2021
Sudharshan Suresh , Zilin Si , Joshua G. Mangelson , Wenzhen Yuan , Michael Kaess

* Under review as submission to the 2022 IEEE International Conference on Robotics and Automation (ICRA 2022) 

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Taxim: An Example-based Simulation Model for GelSight Tactile Sensors


Sep 09, 2021
Zilin Si , Wenzhen Yuan


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Improving Grasp Stability with Rotation Measurement from Tactile Sensing


Jul 31, 2021
Raj Kolamuri , Zilin Si , Yufan Zhang , Arpit Agarwal , Wenzhen Yuan


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Challenges and Outlook in Robotic Manipulation of Deformable Objects


May 04, 2021
Jihong Zhu , Andrea Cherubini , Claire Dune , David Navarro-Alarcon , Farshid Alambeigi , Dmitry Berenson , Fanny Ficuciello , Kensuke Harada , Xiang Li , Jia Pan , Wenzhen Yuan


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Simulation of Vision-based Tactile Sensors using Physics based Rendering


Dec 24, 2020
Arpit Agarwal , Tim Man , Wenzhen Yuan


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Learning Hierarchical Control for Robust In-Hand Manipulation


Oct 24, 2019
Tingguang Li , Krishnan Srinivasan , Max Qing-Hu Meng , Wenzhen Yuan , Jeannette Bohg


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