Nathan F. Lepora

ORCID

Publication Activity (10 Years)

Years Active: 2007-2024
Publications (10 Years): 135

Top Venues

CoRR

IEEE Robotics Autom. Lett.

ICRA

Living Machines

Publications

Chenghua Lu, Kailuan Tang, Max Yang, Tianqi Yue, Nathan F. Lepora
DexiTac: Soft Dexterous Tactile Gripping. CoRR (2024)
Xiaoqing Guo, Finn McFall, Peiyang Jiang, Jindong Liu, Nathan F. Lepora, Dandan Zhang
A Lightweight and Affordable Wearable Haptic Controller for Robot-Assisted Microsurgery. Sensors 24 (9) (2024)
Kipp McAdam Freud, Nathan F. Lepora, Matt W. Jones, Cian O'Donnell
BrainSLAM: SLAM on Neural Population Activity Data. CoRR (2024)
Mauro Comi, Alessio Tonioni, Max Yang, Jonathan Tremblay, Valts Blukis, Yijiong Lin, Nathan F. Lepora, Laurence Aitchison
Snap-it, Tap-it, Splat-it: Tactile-Informed 3D Gaussian Splatting for Reconstructing Challenging Surfaces. CoRR (2024)
Haoran Li, Christopher J. Ford, Chenghua Lu, Yijiong Lin, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, Nathan F. Lepora
Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism. CoRR (2024)
Mauro Comi, Yijiong Lin, Alex Church, Alessio Tonioni, Laurence Aitchison, Nathan F. Lepora
TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction Using Vision-Based Tactile Sensing. IEEE Robotics Autom. Lett. 9 (6) (2024)
Zhenyu Lu, Jialong Yang, Haoran Li, Yifan Li, Weiyong Si, Nathan F. Lepora, Chenguang Yang
TacShade A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction. CoRR (2024)
Wen Fan, Haoran Li, Weiyong Si, Shan Luo, Nathan F. Lepora, Dandan Zhang
ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor. CoRR (2024)
Dan-dan Zhang, Yu Zheng, Wen Fan, Nathan F. Lepora, Zhengyou Zhang
Self-Supervised Bayesian Visual Imitation Learning Applied to Robotic Pouring. ICIT (2024)
Zhenyu Lu, Jialong Yang, Haoran Li, Yifan Li, Weiyong Si, Nathan F. Lepora, Chenguang Yang
TacShade: A New 3D-printed Soft Optical Tactile Sensor Based on Light, Shadow and Greyscale for Shape Reconstruction. ICRA (2024)
Wen Fan, Haoran Li, Weiyong Si, Shan Luo, Nathan F. Lepora, Dandan Zhang
ViTacTip: Design and Verification of a Novel Biomimetic Physical Vision-Tactile Fusion Sensor. ICRA (2024)
Max Yang, Chenghua Lu, Alex Church, Yijiong Lin, Chris Ford, Haoran Li, Efi Psomopoulou, David A. W. Barton, Nathan F. Lepora
AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch. CoRR (2024)
Haoran Li, Saekwang Nam, Zhenyu Lu, Chenguang Yang, Efi Psomopoulou, Nathan F. Lepora
BioTacTip: A Soft Biomimetic Optical Tactile Sensor for Efficient 3D Contact Localization and 3D Force Estimation. IEEE Robotics Autom. Lett. 9 (6) (2024)
Nathan F. Lepora
The future lies in a pair of tactile hands. Sci. Robotics 9 (91) (2024)
John Lloyd, Nathan F. Lepora
Pose-and-shear-based tactile servoing. Int. J. Robotics Res. 43 (7) (2024)
Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora
Tactile control for object tracking and dynamic contour following. Robotics Auton. Syst. 178 (2024)
Dandan Zhang, Wen Fan, John Lloyd, Chenguang Yang, Nathan F. Lepora
One-Shot Domain-Adaptive Imitation Learning via Progressive Learning Applied to Robotic Pouring. IEEE Trans Autom. Sci. Eng. 21 (1) (2024)
Kipp McAdam Freud, Nathan F. Lepora, Matt W. Jones, Cian O'Donnell
BrainSLAM: SLAM on Neural Population Activity Data. AAMAS (2024)
Saekwang Nam, Toby Jack, Loong Yi Lee, Nathan F. Lepora
Softness Prediction with a Soft Biomimetic Optical Tactile Sensor. RoboSoft (2024)
Christopher J. Ford, Haoran Li, John Lloyd, Manuel G. Catalano, Matteo Bianchi, Efi Psomopoulou, Nathan F. Lepora
Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks. ICRA (2023)
Yijiong Lin, Mauro Comi, Alex Church, Dandan Zhang, Nathan F. Lepora
Attention of Robot Touch: Tactile Saliency Prediction for Robust Sim-to-Real Tactile Control. CoRR (2023)
Max Yang, Yijiong Lin, Alex Church, John Lloyd, Dandan Zhang, David A. W. Barton, Nathan F. Lepora
Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing. CoRR (2023)
Giulia Pagnanelli, Simone Ciotti, Nathan F. Lepora, Antonio Bicchi, Matteo Bianchi
Model-Based Compliance Discrimination via Soft Tactile Optical Sensing and Optical Flow Computation: A Biomimetic Approach. IEEE Robotics Autom. Lett. 8 (10) (2023)
Thomas J. Cairnes, Christopher J. Ford, Efi Psomopoulou, Nathan F. Lepora
An Overview of Robotic Grippers. CoRR (2023)
Yijiong Lin, Mauro Comi, Alex Church, Dandan Zhang, Nathan F. Lepora
Attention for Robot Touch: Tactile Saliency Prediction for Robust Sim-to-Real Tactile Control. IROS (2023)
David Cordova Bulens, Nathan F. Lepora, Stephen J. Redmond, Benjamin Ward-Cherrier
Incipient Slip Detection with a Biomimetic Skin Morphology. IROS (2023)
Zhenyu Lu, Lu Chen, Hengtai Dai, Haoran Li, Zhou Zhao, Bofang Zheng, Nathan F. Lepora, Chenguang Yang
Visual-Tactile Robot Grasping Based on Human Skill Learning From Demonstrations Using a Wearable Parallel Hand Exoskeleton. IEEE Robotics Autom. Lett. 8 (9) (2023)
Mauro Comi, Yijiong Lin, Alex Church, Alessio Tonioni, Laurence Aitchison, Nathan F. Lepora
TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction using Vision-Based Tactile Sensing. CoRR (2023)
John Lloyd, Nathan F. Lepora
A pose and shear-based tactile robotic system for object tracking, surface following and object pushing. CoRR (2023)
John Lloyd, Nathan F. Lepora
Pose and shear-based tactile servoing. CoRR (2023)
Wen Fan, Max Yang, Yifan Xing, Nathan F. Lepora, Dandan Zhang
Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing. ICRA (2023)
Zhuochao He, Xuyang Zhang, Simon Jones, Sabine Hauert, Dandan Zhang, Nathan F. Lepora
TacMMs: Tactile Mobile Manipulators for Warehouse Automation. IEEE Robotics Autom. Lett. 8 (8) (2023)
Wen Fan, Xiaoqing Guo, Enyang Feng, Jialin Lin, Yuanyi Wang, Jiaming Liang, Martin Stephen Garrad, Jonathan Rossiter, Zhengyou Zhang, Nathan F. Lepora, Lei Wei, Dandan Zhang
Digital Twin-Driven Mixed Reality Framework for Immersive Teleoperation With Haptic Rendering. IEEE Robotics Autom. Lett. 8 (12) (2023)
Max Yang, Yijiong Lin, Alex Church, John Lloyd, Dandan Zhang, David A. W. Barton, Nathan F. Lepora
Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile Pushing. IEEE Robotics Autom. Lett. 8 (9) (2023)
Zhuochao He, Xuyang Zhang, Simon Jones, Sabine Hauert, Dandan Zhang, Nathan F. Lepora
TacMMs: Tactile Mobile Manipulators for Warehouse Automation. CoRR (2023)
Christopher J. Ford, Haoran Li, John Lloyd, Manuel G. Catalano, Matteo Bianchi, Efi Psomopoulou, Nathan F. Lepora
Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks. CoRR (2023)
Wen Fan, Max Yang, Yifan Xing, Nathan F. Lepora, Dandan Zhang
Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing. CoRR (2023)
Xiaofeng Mao, Yucheng Xu, Ruoshi Wen, Mohammadreza Kasaei, Wanming Yu, Efi Psomopoulou, Nathan F. Lepora, Zhibin Li
Learning Fine Pinch-Grasp Skills using Tactile Sensing from Real Demonstration Data. CoRR (2023)
Yijiong Lin, Alex Church, Max Yang, Haoran Li, John Lloyd, Dandan Zhang, Nathan F. Lepora
Bi-Touch: Bimanual Tactile Manipulation With Sim-to-Real Deep Reinforcement Learning. IEEE Robotics Autom. Lett. 8 (9) (2023)
Yijiong Lin, Alex Church, Max Yang, Haoran Li, John Lloyd, Dandan Zhang, Nathan F. Lepora
Bi-Touch: Bimanual Tactile Manipulation with Sim-to-Real Deep Reinforcement Learning. CoRR (2023)
Nathan F. Lepora, Yijiong Lin, Ben Money-Coomes, John Lloyd
DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch. CoRR (2022)
Haoran Li, Christopher J. Ford, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, Nathan F. Lepora
BRL/Pisa/IIT SoftHand: A Low-cost, 3D-Printed, Underactuated, Tendon-Driven Hand with Soft and Adaptive Synergies. CoRR (2022)
Noor Alakhawand, William Frier, Nathan F. Lepora
Mapping Mid-Air Haptics With a Low-Cost Tactile Robot. IEEE Robotics Autom. Lett. 7 (3) (2022)
Noor Alakhawand, William Frier, Nathan F. Lepora
Mapping Mid-air Haptics with a Low-cost Tactile Robot. CoRR (2022)
Dandan Zhang, Wen Fan, John Lloyd, Chenguang Yang, Nathan F. Lepora
One-Shot Domain-Adaptive Imitation Learning via Progressive Learning. CoRR (2022)
Haoran Li, Christopher J. Ford, Matteo Bianchi, Manuel G. Catalano, Efi Psomopoulou, Nathan F. Lepora
BRL/Pisa/IIT SoftHand: A Low-Cost, 3D-Printed, Underactuated, Tendon-Driven Hand With Soft and Adaptive Synergies. IEEE Robotics Autom. Lett. 7 (4) (2022)
Michele Garibbo, Casimir J. H. Ludwig, Nathan F. Lepora, Laurence Aitchison
What deep reinforcement learning tells us about human motor learning and vice-versa. CoRR (2022)
John Lloyd, Nathan F. Lepora
Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback. IEEE Trans. Robotics 38 (2) (2022)
Fraser L. A. Macdonald, Nathan F. Lepora, Jörg Conradt, Benjamin Ward-Cherrier
Neuromorphic Tactile Edge Orientation Classification in an Unsupervised Spiking Neural Network. Sensors 22 (18) (2022)
Nathan F. Lepora, Yijiong Lin, Ben Money-Coomes, John Lloyd
DigiTac: A DIGIT-TacTip Hybrid Tactile Sensor for Comparing Low-Cost High-Resolution Robot Touch. IEEE Robotics Autom. Lett. 7 (4) (2022)
Anupam K. Gupta, Alex Church, Nathan F. Lepora
Semi-Supervised Disentanglement of Tactile Contact~Geometry from Sliding-Induced Shear. CoRR (2022)
Yijiong Lin, John Lloyd, Alex Church, Nathan F. Lepora
Tactile Gym 2.0: Sim-to-Real Deep Reinforcement Learning for Comparing Low-Cost High-Resolution Robot Touch. IEEE Robotics Autom. Lett. 7 (4) (2022)
Wen Fan, Hongbo Bo, Yijiong Lin, Yifan Xing, Weiru Liu, Nathan F. Lepora, Dandan Zhang
Graph Neural Networks for Interpretable Tactile Sensing. ICAC (2022)
Chenguang Yang, Shan Luo, Nathan F. Lepora, Fanny Ficuciello, Dongheui Lee, Weiwei Wan, Chun-Yi Su
Biomimetic Perception, Cognition, and Control: From Nature to Robots [From the Guest Editors]. IEEE Robotics Autom. Mag. 29 (4) (2022)
Yijiong Lin, John Lloyd, Alex Church, Nathan F. Lepora
Tactile Gym 2.0: Sim-to-real Deep Reinforcement Learning for Comparing Low-cost High-Resolution Robot Touch. CoRR (2022)
Nicholas Pestell, Nathan F. Lepora
Artificial SA-I, RA-I and RA-II/Vibrotactile Afferents for Tactile Sensing of Texture. CoRR (2022)
Pernilla Craig, Laurence Aitchison, Nathan F. Lepora
Active Inference for Artificial Touch: A Biologically-Plausible Tactile Control Method. Living Machines (2022)
Anupam K. Gupta, Alex Church, Nathan F. Lepora
Semi-Supervised Disentanglement of Tactile Contact Geometry from Sliding-Induced Shear. IROS (2022)
John Lloyd, Yijiong Lin, Nathan F. Lepora
Probabilistic Discriminative Models Address the Tactile Perceptual Aliasing Problem. CoRR (2021)
Nathan F. Lepora
Soft Biomimetic Optical Tactile Sensing with the TacTip: A Review. CoRR (2021)
Efi Psomopoulou, Nicholas Pestell, Fotios Papadopoulos, John Lloyd, Zoe Doulgeri, Nathan F. Lepora
A Robust Controller for Stable 3D Pinching using Tactile Sensing. CoRR (2021)
Alex Church, John Lloyd, Raia Hadsell, Nathan F. Lepora
Tactile Sim-to-Real Policy Transfer via Real-to-Sim Image Translation. CoRL (2021)
Nicholas Pestell, Thom Griffith, Nathan F. Lepora
Artificial SA-I and RA-I Afferentsfor Tactile Sensing of Ridges and Gratings. CoRR (2021)
Jasper Wollaston James, Nathan F. Lepora
Slip Detection for Grasp Stabilization With a Multifingered Tactile Robot Hand. IEEE Trans. Robotics 37 (2) (2021)
Manuel Floriano Vázquez, Nathan F. Lepora
Uncertainty-aware deep learning for robot touch: Application to Bayesian tactile servo control. ICRA (2021)
Nathan F. Lepora, Andrew Stinchcombe, Chris Ford, Alfred Brown, John Lloyd, Manuel G. Catalano, Matteo Bianchi, Benjamin Ward-Cherrier
Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands. CoRR (2021)
Shan Luo, Nathan F. Lepora, Uriel Martinez-Hernandez, João Bimbo, Huaping Liu
Editorial: ViTac: Integrating Vision and Touch for Multimodal and Cross-Modal Perception. Frontiers Robotics AI 8 (2021)
Anupam K. Gupta, Laurence Aitchison, Nathan F. Lepora
Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear. CoRL (2021)
John Lloyd, Yijiong Lin, Nathan F. Lepora
Probabilistic Discriminative Models address the Tactile Perceptual Aliasing Problem. Robotics: Science and Systems (2021)
Robyn A. Grant, Gary Dougill, Nathan F. Lepora
Species-specific whisker morphology affects tactile interactions. WHC (2021)
Alex Church, John Lloyd, Raia Hadsell, Nathan F. Lepora
Optical Tactile Sim-to-Real Policy Transfer via Real-to-Sim Tactile Image Translation. CoRR (2021)
Emma L. Roscow, Raymond Chua, Rui Ponte Costa, Matt W. Jones, Nathan F. Lepora
Learning offline: memory replay in biological and artificial reinforcement learning. CoRR (2021)
Nathan F. Lepora, John Lloyd
Pose-Based Tactile Servoing: Controlled Soft Touch Using Deep Learning. IEEE Robotics Autom. Mag. 28 (4) (2021)
Efi Psomopoulou, Nicholas Pestell, Fotios Papadopoulos, John Lloyd, Zoe Doulgeri, Nathan F. Lepora
A Robust Controller for Stable 3D Pinching Using Tactile Sensing. IEEE Robotics Autom. Lett. 6 (4) (2021)
Nathan F. Lepora, Chris Ford, Andrew Stinchcombe, Alfred Brown, John Lloyd, Manuel G. Catalano, Matteo Bianchi, Benjamin Ward-Cherrier
Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands. ICRA (2021)
Manuel Floriano Vázquez, Nathan F. Lepora
Uncertainty-aware deep learning for robot touch: Application to Bayesian tactile servo control. CoRR (2021)
Anupam K. Gupta, Laurence Aitchison, Nathan F. Lepora
Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear. CoRR (2021)
Jasper Wollaston James, Stephen J. Redmond, Nathan F. Lepora
A Biomimetic Tactile Fingerprint Induces Incipient Slip. CoRR (2020)
Nathan F. Lepora, John Lloyd
Optimal Deep Learning for Robot Touch: Training Accurate Pose Models of 3D Surfaces and Edges. IEEE Robotics Autom. Mag. 27 (2) (2020)
Benjamin Ward-Cherrier, Nicholas Pestell, Nathan F. Lepora
NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition. CoRR (2020)
Noor Alakhawand, William Frier, Kipp McAdam Freud, Orestis Georgiou, Nathan F. Lepora
Sensing Ultrasonic Mid-Air Haptics with a Biomimetic Tactile Fingertip. EuroHaptics (2020)
Alex Church, John Lloyd, Raia Hadsell, Nathan F. Lepora
Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard. IEEE Robotics Autom. Lett. 5 (4) (2020)
Zihan Ding, Nathan F. Lepora, Edward Johns
Sim-to-Real Transfer for Optical Tactile Sensing. ICRA (2020)
Elizabeth A. Stone, Nathan F. Lepora, David A. W. Barton
Walking on TacTip toes: A tactile sensing foot for walking robots. IROS (2020)
Nathan F. Lepora, John Lloyd
Optimal Deep Learning for Robot Touch. CoRR (2020)
John Lloyd, Nathan F. Lepora
Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback. CoRR (2020)
Benjamin Ward-Cherrier, Jörg Conradt, Manuel G. Catalano, Matteo Bianchi, Nathan F. Lepora
A Miniaturised Neuromorphic Tactile Sensor integrated with an Anthropomorphic Robot Hand. IROS (2020)
Zihan Ding, Nathan F. Lepora, Edward Johns
Sim-to-Real Transfer for Optical Tactile Sensing. CoRR (2020)
Jasper Wollaston James, Stephen J. Redmond, Nathan F. Lepora
A Biomimetic Tactile Fingerprint Induces Incipient Slip. IROS (2020)
Benjamin Ward-Cherrier, Nicholas Pestell, Nathan F. Lepora
NeuroTac: A Neuromorphic Optical Tactile Sensor applied to Texture Recognition. ICRA (2020)
Anupam K. Gupta, Andrei Nakagawa Silva, Nathan F. Lepora, Nitish V. Thakor
Spatio-temporal encoding improves neuromorphic tactile texture classification. CoRR (2020)
Elizabeth A. Stone, Nathan F. Lepora, David A. W. Barton
Walking on TacTip toes: A tactile sensing foot for walking robots. CoRR (2020)
Elizabeth A. Stone, Nathan F. Lepora, David A. W. Barton
Learning to Live Life on the Edge: Online Learning for Data-Efficient Tactile Contour Following. IROS (2020)
Nathan F. Lepora, John Lloyd
Pose-Based Servo Control with Soft Tactile Sensing. CoRR (2020)
Jasper Wollaston James, Nathan F. Lepora
Slip detection for grasp stabilisation with a multi-fingered tactile robot hand. CoRR (2020)
Alex Church, John Lloyd, Raia Hadsell, Nathan F. Lepora
Deep Reinforcement Learning for Tactile Robotics: Learning to Type on a Braille Keyboard. CoRR (2020)
Kirsty Aquilina, David A. W. Barton, Nathan F. Lepora
Shear-invariant Sliding Contact Perception with a Soft Tactile Sensor. CoRR (2019)
Nicholas Pestell, Luke Cramphorn, Fotios Papadopoulos, Nathan F. Lepora
A Sense of Touch for the Shadow Modular Grasper. IEEE Robotics Autom. Lett. 4 (2) (2019)
Elizabeth A. Stone, Nathan F. Lepora, David A. W. Barton
Learning to Live Life on the Edge: Online Learning for Data-Efficient Tactile Contour Following. CoRR (2019)
Alex Church, Jasper Wollaston James, Luke Cramphorn, Nathan F. Lepora
Tactile Model O: Fabrication and testing of a 3d-printed, three-fingered tactile robot hand. CoRR (2019)

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Publication Activity (10 Years)

Top Topics

Top Venues

Nathan F. Lepora