General In-Hand Object Rotation with Vision and Touch

CoRR(2023)

引用 0|浏览26
暂无评分
摘要
We introduce RotateIt, a system that enables fingertip-based object rotation along multiple axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where it has access to ground-truth object shapes and physical properties. Then we distill it to operate on realistic yet noisy simulated visuotactile and proprioceptive sensory inputs. These multimodal inputs are fused via a visuotactile transformer, enabling online inference of object shapes and physical properties during deployment. We show significant performance improvements over prior methods and the importance of visual and tactile sensing.
更多
查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络