ROBOTICS

COMPUTER VISION

MidasTouch: Monte-Carlo inference over distributions across sliding touch

October 26, 2022

Abstract

We present MidasTouch, a tactile perception system for online global localization of a vision-based touch sensor sliding on an object surface. This framework takes in posed tactile images over time, and outputs an evolving distribution of sensor pose on the object’s surface, without the need for visual priors. Our key insight is to estimate local surface geometry with tactile sensing, learn a compact representation for it, and disambiguate these signals over a long time horizon. The backbone of MidasTouch is a Monte-Carlo particle filter, with a measurement model based on a tactile code network learned from tactile simulation. This network, inspired by LIDAR place recognition, compactly summarizes local surface geometries. These generated codes are efficiently compared against a pre-computed tactile codebook per-object, to update the pose distribution. We further release the YCB-Slide dataset of real-world and simulated forceful sliding interactions between a vision-based tactile sensor and standard YCB objects. While single-touch localization can be inherently ambiguous, we can quickly localize our sensor by traversing salient surface geometries.

Download the Paper

AUTHORS

Written by

Mustafa Mukadam

Stuart Anderson

Sudharshan Suresh

Michael Kaess

Zilin Si

Publisher

CoRL

Research Topics

Robotics

Computer Vision

Related Publications

September 05, 2024

CONVERSATIONAL AI

NLP

Transfusion: Predict the Next Token and Diffuse Images with One Multi-Modal Model

Chunting Zhou, Lili Yu, Arun Babu, Kushal Tirumala, Michihiro Yasunaga, Leonid Shamis, Jacob Kahn, Luke Zettlemoyer, Omer Levy, Xuezhe Ma

September 05, 2024

August 20, 2024

CONVERSATIONAL AI

NLP

Lumos : Empowering Multimodal LLMs with Scene Text Recognition

Ashish Shenoy, Yichao Lu, Srihari Jayakumar, Debojeet Chatterjee, Mohsen Moslehpour, Pierce Chuang, Abhay Harpale, Vikas Bhardwaj, Di Xu (SWE), Shicong Zhao, Ankit Ramchandani, Luna Dong, Anuj Kumar

August 20, 2024

August 15, 2024

INTEGRITY

COMPUTER VISION

Guarantees of confidentiality via Hammersley-Chapman-Robbins bounds

Kamalika Chaudhuri, Chuan Guo, Laurens van der Maaten, Saeed Mahloujifar, Mark Tygert

August 15, 2024

July 29, 2024

COMPUTER VISION

SAM 2: Segment Anything in Images and Videos

Nikhila Ravi, Valentin Gabeur, Yuan-Ting Hu, Ronghang Hu, Chay Ryali, Tengyu Ma, Haitham Khedr, Roman Rädle, Chloe Rolland, Laura Gustafson, Eric Mintun, Junting Pan, Kalyan Vasudev Alwala, Nicolas Carion, Chao-Yuan Wu, Ross Girshick, Piotr Dollar, Christoph Feichtenhofer

July 29, 2024

Help Us Pioneer The Future of AI

We share our open source frameworks, tools, libraries, and models for everything from research exploration to large-scale production deployment.