Proximity and Visuotactile Point Cloud Fusion for Contact Patches in Extreme Deformation

[PDF] arxiv.org

Perceiving extrinsic contacts from touch improves learning insertion policies

C Higuera, J Ortiz, H Qi, L Pineda, B Boots… - arXiv preprint arXiv …, 2023 - arxiv.org
Robotic manipulation tasks such as object insertion typically involve interactions between
object and environment, namely extrinsic contacts. Prior work on Neural Contact Fields …
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