SCFields fuses semantics and contact data in a sim-to-real pipeline to enable category-level generalization for tactile tool manipulation with diffusion policies.
To generate smooth, learnable contact probability labels, we utilize the Signed Distance Function (SDF) computed in Open3D
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Semantic-Contact Fields for Category-Level Generalizable Tactile Tool Manipulation
SCFields fuses semantics and contact data in a sim-to-real pipeline to enable category-level generalization for tactile tool manipulation with diffusion policies.