Imagine2touch: 効率的な低次元信号を用いたロボットマニピュレーションのための予測的触覚センシング
Imagine2touch: Predictive Tactile Sensing for Robotic Manipulation using Efficient Low-Dimensional Signals
視覚情報から触覚信号を予測するImagine2touchを提案し、低コスト触覚センサで収集したデータで学習、物体認識タスクで有効性を示した。
著者: Abdallah Ayad, Adrian Röfer, Nick Heppert, Abhinav Valada
分類: cs.RO, cs.CV
原文アブストラクト
Humans seemingly incorporate potential touch signals in their perception. Our goal is to equip robots with a similar capability, which we term Imagine2touch. Imagine2touch aims to predict the expected touch signal based on a visual patch representing the area to be touched. We use ReSkin, an inexpensive and compact touch sensor to collect the required dataset through random touching of five basic geometric shapes, and one tool. We train Imagine2touch on two out of those shapes and validate it on the ood. tool. We demonstrate the efficacy of Imagine2touch through its application to the downstream task of object recognition. In this task, we evaluate Imagine2touch performance in two experiments, together comprising 5 out of training distribution objects. Imagine2touch achieves an object recognition accuracy of 58% after ten touches per object, surpassing a proprioception baseline.
