General In-Hand Object Rotation with Vision and Touch

• URL: http://arxiv.org/abs/2309.09979v2
• Date: Thu, 28 Sep 2023 08:22:15 GMT
• Title: General In-Hand Object Rotation with Vision and Touch
• Authors: Haozhi Qi, Brent Yi, Sudharshan Suresh, Mike Lambeta, Yi Ma, Roberto Calandra, Jitendra Malik
• Abstract summary: We introduce RotateIt, a system that enables fingertip-based object rotation along multiple axes. We distill it to operate on realistic yet noisy simulated visuotactile and proprioceptive sensory inputs.
• Score: 46.871539289388615
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: We introduce RotateIt, a system that enables fingertip-based object rotation along multiple axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where it has access to ground-truth object shapes and physical properties. Then we distill it to operate on realistic yet noisy simulated visuotactile and proprioceptive sensory inputs. These multimodal inputs are fused via a visuotactile transformer, enabling online inference of object shapes and physical properties during deployment. We show significant performance improvements over prior methods and the importance of visual and tactile sensing.

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