TouchAnything reconstructs accurate 3D object geometries from only a few tactile contacts by optimizing for consistency with a pretrained visual diffusion prior.
In: 2024 IEEE International Conference on Robotics and Automation (ICRA)
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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.