SCFields fuses semantics and contact data in a sim-to-real pipeline to enable category-level generalization for tactile tool manipulation with diffusion policies.
S 2-diffusion: Generalizing from instance-level to category-level skills in robot manipu- lation.IEEE Robotics and Automation Letters, 2025
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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.