47 citations · 57 across the 6 of their papers we have counts for
7 papers
MidasTouch: Monte-Carlo inference over distributions across sliding touch
Sudharshan Suresh, Zilin Si, Stuart Anderson +2
We present MidasTouch, a tactile perception system for online global localization of a vision-based touch sensor sliding on an object surface. This framework takes in posed tactile…
Grasp Stability Prediction with Sim-to-Real Transfer from Tactile Sensing
Zilin Si, Zirui Zhu, Arpit Agarwal +2
Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical i…
Theseus: A Library for Differentiable Nonlinear Optimization
Luis Pineda, Taosha Fan, Maurizio Monge +10
We present Theseus, an efficient application-agnostic open source library for differentiable nonlinear least squares (DNLS) optimization built on PyTorch, providing a common framew…
Vision Checklist: Towards Testable Error Analysis of Image Models to Help System Designers Interrogate Model Capabilities
Xin Du, Benedicte Legastelois, Bhargavi Ganesh +5
Using large pre-trained models for image recognition tasks is becoming increasingly common owing to the well acknowledged success of recent models like vision transformers and othe…
PatchGraph: In-hand tactile tracking with learned surface normals
Paloma Sodhi, Michael Kaess, Mustafa Mukadam +1
We address the problem of tracking 3D object poses from touch during in-hand manipulations. Specifically, we look at tracking small objects using vision-based tactile sensors that…
LEO: Learning Energy-based Models in Factor Graph Optimization
Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam +2
We address the problem of learning observation models end-to-end for estimation. Robots operating in partially observable environments must infer latent states from multiple sensor…
Learning Tactile Models for Factor Graph-based Estimation
Paloma Sodhi, Michael Kaess, Mustafa Mukadam +1
We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from to…