TAVIS is a released benchmark showing active vision improves imitation learning in a task-dependent manner, multi-task policies struggle with shifts, and imitation produces human-like anticipatory gaze.
Tactile mnist: Benchmarking active tactile perception.arXiv preprint arXiv:2506.06361
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TacVerse is a new multi-sensor tactile dataset with 106,800 images from seven VBTS designs that benchmarks within-sensor performance, zero-shot cross-sensor transfer, and few-shot adaptation on shape, grating, and force tasks.
The paper provides a task-driven benchmark comparing visual, acoustic, magnetic, and resistive tactile sensors on three manipulation tasks and concludes that sensor utility depends on modality, material friction, and task specifics.
Polyurethane vision-based tactile sensors are more resilient to normal loading, shear, and abrasion than silicone ones, extending the usable force range at the cost of low-force sensitivity.
APPLE is an RL framework that jointly optimizes a transformer perception module and policy via a unified objective for general active perception, with evaluations on tactile MNIST regression and classification tasks.
citing papers explorer
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TAVIS: A Benchmark for Egocentric Active Vision and Anticipatory Gaze in Imitation Learning
TAVIS is a released benchmark showing active vision improves imitation learning in a task-dependent manner, multi-task policies struggle with shifts, and imitation produces human-like anticipatory gaze.
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TacVerse: A Multi-Sensor Dataset and Benchmark for Cross-Sensor Vision-Based Tactile Perception
TacVerse is a new multi-sensor tactile dataset with 106,800 images from seven VBTS designs that benchmarks within-sensor performance, zero-shot cross-sensor transfer, and few-shot adaptation on shape, grating, and force tasks.
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TacO: Benchmarking Tactile Sensors for Object Manipulation
The paper provides a task-driven benchmark comparing visual, acoustic, magnetic, and resistive tactile sensors on three manipulation tasks and concludes that sensor utility depends on modality, material friction, and task specifics.
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Characterizing the Resilience and Sensitivity of Polyurethane Vision-Based Tactile Sensors
Polyurethane vision-based tactile sensors are more resilient to normal loading, shear, and abrasion than silicone ones, extending the usable force range at the cost of low-force sensitivity.
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Apple: Toward General Active Perception via Reinforcement Learning
APPLE is an RL framework that jointly optimizes a transformer perception module and policy via a unified objective for general active perception, with evaluations on tactile MNIST regression and classification tasks.