ViTaPEs uses two-stage positional encodings in a multimodal transformer to learn task-agnostic visuotactile representations that outperform baselines on recognition tasks, show zero-shot generalization, and improve robotic grasp success prediction.
Gelsight: High-resolution robot tactile sensors for estimating geometry and force.Sensors, 17(12):2762, 2017a
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ViTaPEs: Visuotactile Position Encodings for Cross-Modal Alignment in Multimodal Transformers
ViTaPEs uses two-stage positional encodings in a multimodal transformer to learn task-agnostic visuotactile representations that outperform baselines on recognition tasks, show zero-shot generalization, and improve robotic grasp success prediction.