FingerEye delivers continuous vision-tactile sensing via binocular RGB cameras and marker-tracked compliant ring deformation, supporting imitation learning policies that generalize across object variations for tasks like coin standing and syringe manipulation.
Shared visual encoder.Real observations and simulation- augmented observations are processed by a shared visual encoder with identical weights
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FingerEye: Continuous and Unified Vision-Tactile Sensing for Dexterous Manipulation
FingerEye delivers continuous vision-tactile sensing via binocular RGB cameras and marker-tracked compliant ring deformation, supporting imitation learning policies that generalize across object variations for tasks like coin standing and syringe manipulation.