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20232026
most citedSparsh: Self-supervised touch representations for vision-based tactile sensing

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cs.RO2023

Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies

Carolina Higuera, Joseph Ortiz, Haozhi Qi +3

Robotic manipulation tasks such as object insertion typically involve interactions between object and environment, namely extrinsic contacts. Prior work on Neural Contact Fields (N…