A conditional diffusion model using proprioception and multi-contact touch produces metric-scale, physically consistent 3D object reconstructions under hand occlusion.
In: 2022 International Conference on Robotics and Automation (ICRA)
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TouchAnything reconstructs accurate 3D object geometries from only a few tactile contacts by optimizing for consistency with a pretrained visual diffusion prior.
citing papers explorer
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Physically Grounded 3D Generative Reconstruction under Hand Occlusion using Proprioception and Multi-Contact Touch
A conditional diffusion model using proprioception and multi-contact touch produces metric-scale, physically consistent 3D object reconstructions under hand occlusion.
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TouchAnything: Diffusion-Guided 3D Reconstruction from Sparse Robot Touches
TouchAnything reconstructs accurate 3D object geometries from only a few tactile contacts by optimizing for consistency with a pretrained visual diffusion prior.