TR2022-058
Synthesizing and Simulating Volumetric Meshes from Vision-based Tactile Imprints
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- "Synthesizing and Simulating Volumetric Meshes from Vision-based Tactile Imprints", ICRA 2022 Workshop on Reinforcement Learning for Contact-Rich Manipulation, May 2022.BibTeX TR2022-058 PDF
- @inproceedings{Zhu2022may3,
- author = {Zhu, Xinghao and Jain, Siddarth and Tomizuka, Masayoshi and van Baar, Jeroen},
- title = {Synthesizing and Simulating Volumetric Meshes from Vision-based Tactile Imprints},
- booktitle = {ICRA 2022 Workshop on Reinforcement Learning for Contact-Rich Manipulation},
- year = 2022,
- month = may,
- url = {https://www.merl.com/publications/TR2022-058}
- }
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- "Synthesizing and Simulating Volumetric Meshes from Vision-based Tactile Imprints", ICRA 2022 Workshop on Reinforcement Learning for Contact-Rich Manipulation, May 2022.
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Research Areas:
Abstract:
Vision-based tactile sensors typically employ a deformable elastomer and a camera to provide high-resolution contact images. This work focuses on learning to simulate and synthesize the volumetric mesh of the elastomer based on the image imprints acquired from tactile sensors. Obtaining accurate volumetric meshes for the elastomer can provide direct contact information and benefit robotic grasping and manipulation. Our method [1] proposes a train-then-adapt way to leverage synthetic image-mesh pairs and real-world images from finite element methods (FEM) and physical sensors. Our approach can accurately reconstruct the deformation of the real-world tactile sensor elastomer in various domains. While the proposed learning approaches have shown to produce solutions, we discuss some limitations and challenges for viable real-world applications.
Related News & Events
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NEWS MERL researchers presented 5 papers and an invited workshop talk at ICRA 2022 Date: May 23, 2022 - May 27, 2022
Where: International Conference on Robotics and Automation (ICRA)
MERL Contacts: Ankush Chakrabarty; Stefano Di Cairano; Siddarth Jain; Devesh K. Jha; Pedro Miraldo; Daniel N. Nikovski; Arvind Raghunathan; Diego Romeres; Abraham P. Vinod; Yebin Wang
Research Areas: Artificial Intelligence, Machine Learning, RoboticsBrief- MERL researchers presented 5 papers at the IEEE International Conference on Robotics and Automation (ICRA) that was held in Philadelphia from May 23-27, 2022. The papers covered a broad range of topics from manipulation, tactile sensing, planning and multi-agent control. The invited talk was presented in the "Workshop on Collaborative Robots and Work of the Future" which covered some of the work done by MERL researchers on collaborative robotic assembly. The workshop was co-organized by MERL, Mitsubishi Electric Automation's North America Development Center (NADC), and MIT.