While contact-rich manipulation requires deliberate regulation of interaction forces, recent approaches to robot manipulation learning predominantly represent actions as target positions or poses. Even methods that incorporate force sensing either use it solely as an observation or, when predicting forces as part of th …
Tactile information is essential for contact-rich manipulation tasks in robotics. Vision-based tactile sensors make it particularly easy to design end-to-end manipulation policies with tactile sensing, as they enable the use of existing encoders from computer vision. However, this has led to a huge variety of architect …
Large-scale datasets are essential for training generalist robot control policies. Collecting real-world tactile data is costly and time-consuming, motivating the use of tactile simulations. However, current tactile simulators capture only overall contact geometry and miss fine details like texture. This results in a s …