Wadhah Zai El Amri

Niloy Ganguly, Dren Fazlija, Maryam Badar et al.

State-of-the-art AI models largely lack an understanding of the cause-effect relationship that governs human understanding of the real world. Consequently, these models do not generalize to unseen data, often produce unfair results, and are difficult to interpret. This has led to efforts to improve the trustworthiness aspects of AI models. Recently, causal modeling and inference methods have emerged as powerful tools. This review aims to provide the reader with an overview of causal methods that have been developed to improve the trustworthiness of AI models. We hope that our contribution will motivate future research on causality-based solutions for trustworthy AI.

Alexander Fabisch, Wadhah Zai El Amri, Chandandeep Singh et al.

Human manipulation skills represent a pinnacle of their voluntary motor functions, requiring the coordination of many degrees of freedom and processing of high-dimensional sensor input to achieve remarkable dexterity. Thus, we set out to answer whether the human hand, with its associated biomechanical properties, sensors, and control mechanisms, is an ideal that we should strive for in robotics. Do robots need anthropomorphic hands? We start by extracting characteristics of the human hand in terms of biomechanics and perception to compare them with currently commercially available robotic hands. From this comparison, we derive our research questions that connect manipulation system complexity to skill repertoire size and dexterity. We attempt to answer these with a systematic literature review, in which we analyze the manipulation capabilities demonstrated in 125 papers from 2019-2025. Although complex five-fingered hands are often considered the ultimate goal for robotic manipulators, they are not necessary for all tasks. We find that in-hand manipulation does not benefit from anthropomorphic hand design as simpler mechanisms are sufficient, but mechanism complexity correlates with the breadth of manipulation tasks a hand can perform. Sensor integration and intelligent manipulation strategies remain underexplored, which may be because of a misalignment with hand design: instead of replicating the number of fingers and degrees of freedom, focusing on robustness and softness would allow more intelligent control and learning to exploit environmental contacts and integrate more sensors. Finally, we argue for standardized evaluation criteria to enable systematic comparison of hand designs and manipulation systems.

Wadhah Zai El Amri, Nicolás Navarro-Guerrero

Tactile sensing presents a promising opportunity for enhancing the interaction capabilities of today's robots. BioTac is a commonly used tactile sensor that enables robots to perceive and respond to physical tactile stimuli. However, the sensor's non-linearity poses challenges in simulating its behavior. In this paper, we first investigate a BioTac simulation that uses temperature, force, and contact point positions to predict the sensor outputs. We show that training with BioTac temperature readings does not yield accurate sensor output predictions during deployment. Consequently, we tested three alternative models, i.e., an XGBoost regressor, a neural network, and a transformer encoder. We train these models without temperature readings and provide a detailed investigation of the window size of the input vectors. We demonstrate that we achieve statistically significant improvements over the baseline network. Furthermore, our results reveal that the XGBoost regressor and transformer outperform traditional feed-forward neural networks in this task. We make all our code and results available online on https://github.com/wzaielamri/Optimizing_BioTac_Simulation.

Wadhah Zai El Amri, Nicolás Navarro-Guerrero

Training machine learning models for robotic tactile sensing requires vast amounts of data, yet obtaining realistic interaction data remains a challenge due to physical complexity and variability. Simulating tactile sensors is thus a crucial step in accelerating progress. This paper presents SPLIT, a novel method for simulating image-based tactile sensors, with a primary focus on the DIGIT sensor. Central to our approach is a latent space arithmetic strategy that explicitly disentangles contact geometry from sensor-specific optical properties. Unlike methods that require recalibration for every new unit, this disentanglement allows SPLIT to adapt to diverse DIGIT backgrounds and even transfer data to distinct sensors like the GelSight R1.5 without full model retraining. Beyond this adaptability, our approach achieves faster inference speeds than existing alternatives. Furthermore, we provide a calibrated finite element method (FEM) soft-body mesh simulation with variable resolution, offering a tunable trade-off between speed and fidelity. Additionally, our algorithm supports bidirectional simulation, allowing for both the generation of realistic images from deformation meshes and the reconstruction of meshes from tactile images. This versatility makes SPLIT a valuable tool for accelerating progress in robotic tactile sensing research.

Wadhah Zai El Amri, Malte Kuhlmann, Nicolás Navarro-Guerrero

Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility in applications like slip detection and object identification, this sensor is now deprecated, making many valuable datasets obsolete. However, recreating similar datasets with newer sensor technologies is both tedious and time-consuming. Therefore, adapting these existing datasets for use with new setups and modalities is crucial. In response, we introduce ACROSS, a novel framework for translating data between tactile sensors by exploiting sensor deformation information. We demonstrate the approach by translating BioTac signals into the DIGIT sensor. Our framework consists of first converting the input signals into 3D deformation meshes. We then transition from the 3D deformation mesh of one sensor to the mesh of another, and finally convert the generated 3D deformation mesh into the corresponding output space. We demonstrate our approach to the most challenging problem of going from a low-dimensional tactile representation to a high-dimensional one. In particular, we transfer the tactile signals of a BioTac sensor to DIGIT tactile images. Our approach enables the continued use of valuable datasets and data exchange between groups with different setups.

Wadhah Zai El Amri, Malte Kuhlmann, Nicolás Navarro-Guerrero

Tactile perception is essential for human interaction with the environment and is becoming increasingly crucial in robotics. Tactile sensors like the BioTac mimic human fingertips and provide detailed interaction data. Despite its utility in applications like slip detection and object identification, this sensor is now deprecated, making many existing datasets obsolete. This article introduces a novel method for translating data between tactile sensors by exploiting sensor deformation information rather than output signals. We demonstrate the approach by translating BioTac signals into the DIGIT sensor. Our framework consists of three steps: first, converting signal data into corresponding 3D deformation meshes; second, translating these 3D deformation meshes from one sensor to another; and third, generating output images using the converted meshes. Our approach enables the continued use of valuable datasets.