VIRDO: Visio-tactile Implicit Representations of Deformable Objects
Youngsun Wi,Pete Florence,Andy Zeng,Nima Fazeli,Youngsun Wi,Pete Florence,Andy Zeng,Nima Fazeli
Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO: an implicit, multi-modal, and continuous representation for deformable-elastic objects. VIRDO operates directly on visual (point cloud) and tactile (reaction forces) modalities and learns rich latent embeddings of contact locations ...
