Fusing contact microphone audio with camera images classifies leaf, twig, trunk, or ambient contacts in orchards, and transfers from a hand-held probe to a robot-mounted probe, with reported F1 between 0.74 and 0.82.
That sounds right: Auditory self-supervision for dynamic robot manipulation,
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Audio-Visual Contact Classification for Tree Structures in Agriculture
Fusing contact microphone audio with camera images classifies leaf, twig, trunk, or ambient contacts in orchards, and transfers from a hand-held probe to a robot-mounted probe, with reported F1 between 0.74 and 0.82.