Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing
Ying Yuan,Haichuan Che,Yuzhe Qin,Binghao Huang,Zhao-Heng Yin,Kang-Won Lee,Yi Wu,Soo-Chul Lim,Xiaolong Wang,Ying Yuan,Haichuan Che,Yuzhe Qin,Binghao Huang,Zhao-Heng Yin,Kang-Won Lee,Yi Wu,Soo-Chul Lim,Xiaolong Wang
Executing contact-rich manipulation tasks necessitates the fusion of tactile and visual feedback. However, the distinct nature of these modalities poses significant challenges. In this paper, we introduce a system that leverages visual and tactile sensory inputs to enable dexterous in-hand manipulation. Specifically, we propose Robot Synesthesia, a novel point cloudbased tactile representation ins...