{"id":"https://openalex.org/W3012019310","doi":"https://doi.org/10.1109/icra40945.2020.9196712","title":"OmniTact: A Multi-Directional High-Resolution Touch Sensor","display_name":"OmniTact: A Multi-Directional High-Resolution Touch Sensor","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3012019310","doi":"https://doi.org/10.1109/icra40945.2020.9196712","mag":"3012019310"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196712","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196712","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.06965","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027347432","display_name":"Akhil Padmanabha","orcid":"https://orcid.org/0000-0001-8603-8146"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Akhil Padmanabha","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","University of California,Dept. of Electrical Engineering and Computer Sciences,Berkeley,CA,USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California,Dept. of Electrical Engineering and Computer Sciences,Berkeley,CA,USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029017885","display_name":"Frederik Ebert","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frederik Ebert","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","University of California,Dept. of Electrical Engineering and Computer Sciences,Berkeley,CA,USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California,Dept. of Electrical Engineering and Computer Sciences,Berkeley,CA,USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056330807","display_name":"Stephen Tian","orcid":"https://orcid.org/0000-0003-3148-5541"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen Tian","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","University of California,Dept. of Electrical Engineering and Computer Sciences,Berkeley,CA,USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California,Dept. of Electrical Engineering and Computer Sciences,Berkeley,CA,USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002235575","display_name":"Roberto Calandra","orcid":"https://orcid.org/0000-0001-9430-8433"},"institutions":[{"id":"https://openalex.org/I4210099336","display_name":"Menlo School","ror":"https://ror.org/01240pn49","country_code":"US","type":"education","lineage":["https://openalex.org/I4210099336"]},{"id":"https://openalex.org/I4210114444","display_name":"Meta (United States)","ror":"https://ror.org/01zbnvs85","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roberto Calandra","raw_affiliation_strings":["Facebook AI Research, Menlo Park, CA, USA","[Facebook AI Research Menlo Park, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Facebook AI Research, Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210114444","https://openalex.org/I4210099336"]},{"raw_affiliation_string":"[Facebook AI Research Menlo Park, CA, USA]","institution_ids":["https://openalex.org/I4210114444","https://openalex.org/I4210099336"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005431772","display_name":"Chelsea Finn","orcid":"https://orcid.org/0000-0001-6298-0874"},"institutions":[{"id":"https://openalex.org/I4210137306","display_name":"Stanford Medicine","ror":"https://ror.org/03mtd9a03","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210137306","https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chelsea Finn","raw_affiliation_strings":["Department of Computer Science, Stanford, Palo Alto, CA, USA","Stanford,Department of Computer Science,Palo Alto,CA,USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford, Palo Alto, CA, USA","institution_ids":[]},{"raw_affiliation_string":"Stanford,Department of Computer Science,Palo Alto,CA,USA","institution_ids":["https://openalex.org/I4210137306"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026322200","display_name":"Sergey Levine","orcid":"https://orcid.org/0000-0001-6764-2743"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sergey Levine","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","University of California,Dept. of Electrical Engineering and Computer Sciences,Berkeley,CA,USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California,Dept. of Electrical Engineering and Computer Sciences,Berkeley,CA,USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5027347432"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.7838,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.6790263,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"618","last_page":"624"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9864000082015991,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.823464572429657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7164534330368042},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7129034996032715},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6396074295043945},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5677004456520081},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5394907593727112},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.49243077635765076},{"id":"https://openalex.org/keywords/image-sensor","display_name":"Image sensor","score":0.45478948950767517},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.45200225710868835},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.44648176431655884},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16797783970832825}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.823464572429657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7164534330368042},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7129034996032715},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6396074295043945},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5677004456520081},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5394907593727112},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.49243077635765076},{"id":"https://openalex.org/C76935873","wikidata":"https://www.wikidata.org/wiki/Q209121","display_name":"Image sensor","level":2,"score":0.45478948950767517},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.45200225710868835},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.44648176431655884},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16797783970832825},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra40945.2020.9196712","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196712","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.06965","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.06965","pdf_url":"https://arxiv.org/pdf/2003.06965","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3012019310","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2003.06965","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2003.06965","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.06965","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"doi:10.57702/e5hl72b5","is_oa":true,"landing_page_url":"https://doi.org/10.57702/e5hl72b5","pdf_url":null,"source":{"id":"https://openalex.org/S7407053387","display_name":"TIB Data Manager","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"dataset"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.06965","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.06965","pdf_url":"https://arxiv.org/pdf/2003.06965","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.7900000214576721}],"awards":[{"id":"https://openalex.org/G1316541018","display_name":null,"funder_award_id":"IIS-1700697","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2391102546","display_name":"CAREER: Deep Robotic Learning with Large Datasets: Toward Simple and Reliable Lifelong Learning Frameworks","funder_award_id":"1651843","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4796755020","display_name":"RI: Small: Model-Based Deep Reinforcement Learning for Domain Transfer","funder_award_id":"1700697","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7254967435","display_name":null,"funder_award_id":"IIS-1651843","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3012019310.pdf","grobid_xml":"https://content.openalex.org/works/W3012019310.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1983589237","https://openalex.org/W2049196418","https://openalex.org/W2051530567","https://openalex.org/W2094695420","https://openalex.org/W2098611745","https://openalex.org/W2113458228","https://openalex.org/W2128681845","https://openalex.org/W2169364846","https://openalex.org/W2194775991","https://openalex.org/W2221877149","https://openalex.org/W2421020186","https://openalex.org/W2551441401","https://openalex.org/W2562116405","https://openalex.org/W2743209907","https://openalex.org/W2775635818","https://openalex.org/W2804941773","https://openalex.org/W2962688712","https://openalex.org/W2963996718","https://openalex.org/W2964121744","https://openalex.org/W2967936796","https://openalex.org/W3008950361","https://openalex.org/W6631190155","https://openalex.org/W6684191040","https://openalex.org/W6745274615"],"related_works":["https://openalex.org/W3089374988","https://openalex.org/W2038453448","https://openalex.org/W3048871122","https://openalex.org/W2917559944","https://openalex.org/W111365407","https://openalex.org/W3109509490","https://openalex.org/W61061206","https://openalex.org/W2938901509","https://openalex.org/W2070401730","https://openalex.org/W2087364175","https://openalex.org/W2967382602","https://openalex.org/W201820453","https://openalex.org/W2421020186","https://openalex.org/W3095708125","https://openalex.org/W3012262179","https://openalex.org/W2985416885","https://openalex.org/W2963765355","https://openalex.org/W2605357618","https://openalex.org/W3047827687","https://openalex.org/W3008950361"],"abstract_inverted_index":{"Incorporating":[0],"touch":[1,157],"as":[2,48,115,117,185,187],"a":[3,37,49,66,71,76,101,118,144,174,188],"sensing":[4,158,202],"modality":[5],"for":[6,51,205,213],"robots":[7],"can":[8,83,225],"enable":[9],"finer":[10],"and":[11,57,90,159,193,200,211,222],"more":[12],"robust":[13],"manipulation":[14,53],"skills.":[15],"Existing":[16],"tactile":[17,40,176,191],"sensors":[18],"are":[19,153],"either":[20],"flat,":[21],"have":[22],"small":[23],"sensitive":[24,181],"fields":[25],"or":[26],"only":[27,156,180],"provide":[28],"low-resolution":[29],"signals.":[30],"In":[31],"this":[32],"paper,":[33],"we":[34],"introduce":[35],"OmniTact,":[36],"multi-directional":[38,63,190,201],"high-resolution":[39,199],"sensor.":[41],"OmniTact":[42,99],"is":[43,123,136,179,203],"designed":[44],"to":[45,61,137,164],"be":[46,84,226],"used":[47],"fingertip":[50],"robotic":[52,55,103,131],"with":[54,173],"hands,":[56],"uses":[58],"multiple":[59],"micro-cameras":[60],"detect":[62],"deformations":[64],"of":[65,78,98,125,141,143,198],"gel-based":[67],"skin.":[68],"This":[69],"provides":[70],"rich":[72],"signal":[73],"from":[74,167],"which":[75],"variety":[77],"different":[79],"contact":[80,142],"state":[81,119,218],"variables":[82],"inferred":[85],"using":[86,155],"modern":[87],"image":[88],"processing":[89],"computer":[91],"vision":[92],"methods.":[93],"We":[94,171],"evaluate":[95],"the":[96,134,139,168,208,217],"capabilities":[97],"on":[100,182],"challenging":[102],"control":[104],"task":[105],"that":[106,122,178,195],"requires":[107],"inserting":[108,207],"an":[109,113,149],"electrical":[110,209],"connector":[111,210],"into":[112],"outlet,":[114],"well":[116,186],"estimation":[120,219],"problem":[121],"representative":[124],"those":[126],"typically":[127],"encountered":[128],"in":[129,216],"dexterous":[130],"manipulation,":[132],"where":[133],"goal":[135],"infer":[138],"angle":[140],"curved":[145],"finger":[146],"pressing":[147],"against":[148],"object.":[150],"Both":[151],"tasks":[152],"performed":[154],"deep":[160],"convolutional":[161],"neural":[162],"networks":[163],"process":[165],"images":[166],"sensor's":[169],"cameras.":[170],"compare":[172],"state-of-the-art":[175,189],"sensor":[177],"one":[183],"side,":[184],"sensor,":[192],"find":[194],"OmniTact's":[196],"combination":[197],"crucial":[204],"reliably":[206],"allows":[212],"higher":[214],"accuracy":[215],"task.":[220],"Videos":[221],"supplementary":[223],"material":[224],"found":[227],"here":[228],"<sup":[229],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[230],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">4</sup>":[231],".":[232]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":8},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}