ViTaSCOPE jointly estimates in-hand object pose and extrinsic contact location on an object from vision and tactile shear fields, trained solely in simulation and deployed in the real world.
Soft-bubble: A highly compliant dense geometry tactile sensor for robot ma- nipulation
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ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation
ViTaSCOPE jointly estimates in-hand object pose and extrinsic contact location on an object from vision and tactile shear fields, trained solely in simulation and deployed in the real world.