PseudoTouch: Efficiently Imaging the Surface Feel of Objects for Robotic Manipulation

arXiv:2403.15107v1 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 \ourmodel. \ourmodel aims to predict the expected touch signal based on a visual patch representing the touched area. We frame this problem as the task of learning a low-dimensional visual-tactile embedding, wherein we encode a depth patch from which we decode the tactile signal. To accomplish this task, we employ ReSkin, an inexpensive …

arxiv cs.cv cs.ro imaging manipulation objects robotic robotic manipulation surface type