TouchGuide improves contact-rich robot manipulation by steering diffusion or flow-matching visuomotor policies with tactile feasibility scores from a contrastively trained Contact Physical Model.
Digit: A novel design for a low-cost compact high-resolution tactile sensor with application to in-hand manipulation.IEEE Robotics and Automation Letters, 5 (3):3838–3845
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TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance
TouchGuide improves contact-rich robot manipulation by steering diffusion or flow-matching visuomotor policies with tactile feasibility scores from a contrastively trained Contact Physical Model.