What Matters for Active Texture Recognition With Vision-Based Tactile Sensors

arXiv:2403.13701v1 Announce Type: cross
Abstract: This paper explores active sensing strategies that employ vision-based tactile sensors for robotic perception and classification of fabric textures. We formalize the active sampling problem in the context of tactile fabric recognition and provide an implementation of information-theoretic exploration strategies based on minimizing predictive entropy and variance of probabilistic models. Through ablation studies and human experiments, we investigate which components are crucial for quick and reliable texture recognition. Along with the active sampling strategies, we …

abstract arxiv classification context cs.lg cs.ro entropy exploration fabric implementation information paper perception predictive recognition robotic sampling sensing sensors strategies texture type vision