Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment Features
Justin Kerr,
Huang Huang,
Albert Wilcox
et al.
Abstract:Humans make extensive use of vision and touch as complementary senses, with vision providing global information about the scene and touch measuring local information during manipulation without suffering from occlusions. While prior work demonstrates the efficacy of tactile sensing for precise manipulation of deformables, they typically rely on supervised, human-labeled datasets. We propose Self-Supervised Visuo-Tactile Pretraining (SSVTP), a framework for learning multi-task visuo-tactile representations in a… Show more
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