A new large-scale vision, touch, and proprioception dataset for estimating the 6D pose of objects held in multi-fingered robotic hands, with a baseline network showing improved accuracy when touch is added.
In the upper row, we have an AllegroHand equipped with whole-hand tactile sensors, while in the lower row, we have a Trx-hand with sensors
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VinT-6D: A Large-Scale Object-in-hand Dataset from Vision, Touch and Proprioception
A new large-scale vision, touch, and proprioception dataset for estimating the 6D pose of objects held in multi-fingered robotic hands, with a baseline network showing improved accuracy when touch is added.