tactile-perception

[ICRA2025] Integrates the vision, touch, and common-sense information of foundational models, customized to the agent's perceptual needs.

An official implementation of Touch100k: A Large-Scale Touch-Language-Vision Dataset for Touch-Centric Multimodal Representation

Tactile perception dataset, comprising of the DIGIT sliding over YCB objects with ground-truth pose.

Visuo-tactile dataset with GelSight and depth camera for YCB objects.

(In progress: see roadmap) Gaussian process implicit surface generation from manipulator contact measurements, for object modeling

This repository contains the code and the appendix for the paper Optimizing BioTac Simulation for Realistic Tactile Perception by Wadhah Zai El Amri and Nicolás Navarro-Guerrero.

Object shape exploration pybullet simulator for shape and pose recovery work (in progress)

ROS Packages for 3D Systems Touch.

Code for our NeuroAI tactile paper

A scalable and freely configurable function generator in VHDL

Naive bayes classifier developed with numpy. Applied to recognize stimuly through haptic data.

Repo for Neurocognitive Methods Practical @ FU Berlin

This project is a real-time, high-frequency tactile sensing and slip detection pipeline built in C++ using ROS2, designed for advanced robotic manipulation and prosthetic applications. It features a custom message architecture and a one-thousand-hertz publisher node that simulates a multi-sensor tactile array, utilizing optimized Quality of Service