Imagine2touch: Predictive Tactile Sensing for Robotic Manipulation using Efficient Low-Dimensional Signals

arXiv:2405.01192v1 Announce Type: cross
Abstract: Humans seemingly incorporate potential touch signals in their perception. Our goal is to equip robots with a similar capability, which we term Imagine2touch. Imagine2touch aims to predict the expected touch signal based on a visual patch representing the area to be touched. We use ReSkin, an inexpensive and compact touch sensor to collect the required dataset through random touching of five basic geometric shapes, and one tool. We train Imagine2touch on two out of those …

abstract arxiv capability cs.cv cs.ro humans low manipulation perception predictive robotic robotic manipulation robots sensing signal type visual