2022
DOI: 10.48550/arxiv.2206.05714
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Integrating High-Resolution Tactile Sensing into Grasp Stability Prediction

Abstract: We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO simulator, enabled us to evaluate how neural networks can be trained with a combination of sensing modalities. With the large amounts of data needed to train large neural networks, robotic simulators provide a fast way to automate the data collection process. We expand on the… Show more

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