変形物体の視覚・触覚統合暗黙表現VIRDO
VIRDO: Visio-tactile Implicit Representations of Deformable Objects
点群と触覚反応力を入力に、接触位置と力の潜在表現を学習して変形物体の形状変化を予測するマルチモーダル暗黙表現を提案した論文。
著者: Youngsun Wi, Pete Florence, Andy Zeng, Nima Fazeli
分類: cs.RO
原文アブストラクト
Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO:an implicit, multi-modal, and continuous representation for deformable-elastic objects. VIRDO operates directly on visual (point cloud) and tactile (reaction forces) modalities and learns rich latent embeddings of contact locations and forces to predict object deformations subject to external contacts.Here, we demonstrate VIRDOs ability to: i) produce high-fidelity cross-modal reconstructions with dense unsupervised correspondences, ii) generalize to unseen contact formations,and iii) state-estimation with partial visio-tactile feedback
