Publications

2022

PoseIt: A Visual-Tactile Dataset of Holding Poses for Grasp Stability Analysis

Shubham Kanitkar*, Helen Jiang*, Wenzhen Yuan

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

[pdf] [website]

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

Zilin Si, Zirui Zhu, Arpit Agarwal, Stuart Anderson, Wenzhen Yuan

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

[pdf] [website] [github]

Understanding Dynamic Tactile Sensing for Liquid Property Estimation

Hung-Jui Huang, Xiaofeng Guo, Wenzhen Yuan

Robotics: Science and Systems (RSS), 2022

[pdf] [website]

ObjectFolder 2.0: A Multisensory Object Dataset for Sim2Real Transfer

Ruohan Gao*, Zilin Si*, Yen-Yu Chang*, Samuel Clarke, Jeannettee Bohg, Li Fei-Fei, Wenzhen Yuan, Jiajun Wu

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2022

[pdf] [website] [github]

Using Collocated Vision and Tactile Sensors for Visual Servoing and Localization

Arkadeep Narayan Chaudhury, Tim Man, Wenzhen Yuan, Christopher Atkeson

IEEE Robotics and Automation Letters (RA-L) with ICRA, 2022

[pdf] 

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

Zilin Si, Wenzhen Yuan

IEEE Robotics and Automation Letters (RA-L) with ICRA, 2022

[pdf] [website] [github]

Efficient shape mapping through dense touch and vision

Sudharshan Suresh*, Zilin Si*, Joshua G. Mangelson, Wenzhen Yuan, Michael Kaess

IEEE International Conference on Robotics and Automation (ICRA), 2022

[pdf] [website] [github] [dataset]

2021

Improving Grasp Stability with Rotation Measurementfrom Tactile Sensing

Raj Kolamuri*, Zilin Si*, Yufan Zhang, Arpit Agarwal, Wenzhen Yuan

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021

[pdf] [website]

Simulation of Vision-based Tactile Sensors using Physics based Rendering

Arpit Agarwal, Timothy Man, Wenzhen Yuan

IEEE International Conference on Robotics and Automation (ICRA), 2021

[pdf] [website] [github]