4 papers · 1 filter
PTLD: Sim-to-real Privileged Tactile Latent Distillation for Dexterous Manipulation
Rosy Chen, Mustafa Mukadam, Michael Kaess +4
Tactile dexterous manipulation is essential to automating complex household tasks, yet learning effective control policies remains a challenge. While recent work has relied on imit…
Tactile Beyond Pixels: Multisensory Touch Representations for Robot Manipulation
Carolina Higuera, Akash Sharma, Taosha Fan +8
We present Sparsh-X, the first multisensory touch representations across four tactile modalities: image, audio, motion, and pressure. Trained on ~1M contact-rich interactions colle…
Self-supervised perception for tactile skin covered dexterous hands
Akash Sharma, Carolina Higuera, Chaithanya Krishna Bodduluri +9
We present Sparsh-skin, a pre-trained encoder for magnetic skin sensors distributed across the fingertips, phalanges, and palm of a dexterous robot hand. Magnetic tactile skins off…
Sparsh: Self-supervised touch representations for vision-based tactile sensing
Carolina Higuera, Akash Sharma, Chaithanya Krishna Bodduluri +8
In this work, we introduce general purpose touch representations for the increasingly accessible class of vision-based tactile sensors. Such sensors have led to many recent advance…