PyTouch：触覚信号処理のための機械学習ライブラリ
PyTouch: A Machine Learning Library for Touch Processing
触覚センサの生データを制御や意思決定に使える高次信号へ変換する、モジュール式で使いやすいオープンソースの機械学習ライブラリPyTouchを提案し、接触検出や滑り・物体姿勢推定で評価した。
著者: Mike Lambeta, Huazhe Xu, Jingwei Xu, Po-Wei Chou, Shaoxiong Wang, Trevor Darrell, Roberto Calandra
分類: cs.RO, cs.HC, cs.LG
原文アブストラクト
With the increased availability of rich tactile sensors, there is an equally proportional need for open-source and integrated software capable of efficiently and effectively processing raw touch measurements into high-level signals that can be used for control and decision-making. In this paper, we present PyTouch -- the first machine learning library dedicated to the processing of touch sensing signals. PyTouch, is designed to be modular, easy-to-use and provides state-of-the-art touch processing capabilities as a service with the goal of unifying the tactile sensing community by providing a library for building scalable, proven, and performance-validated modules over which applications and research can be built upon. We evaluate PyTouch on real-world data from several tactile sensors on touch processing tasks such as touch detection, slip and object pose estimations. PyTouch is open-sourced at https://github.com/facebookresearch/pytouch .
