TactoFind:一个仅用于对象检索的触觉系统 TactoFind: A Tactile Only System for Object Retrieval

作者:Sameer Pai Tao Chen Megha Tippur Edward Adelson Abhishek Gupta Pulkit Agrawal


We study the problem of object retrieval in scenarios where visual sensing isabsent, object shapes are unknown beforehand and objects can move freely, likegrabbing objects out of a drawer. Successful solutions require localizing freeobjects, identifying specific object instances, and then grasping theidentified objects, only using touch feedback. Unlike vision, where cameras canobserve the entire scene, touch sensors are local and only observe parts of thescene that are in contact with the manipulator. Moreover, information gatheringvia touch sensors necessitates applying forces on the touched surface which maydisturb the scene itself. Reasoning with touch, therefore, requires carefulexploration and integration of information over time — a challenge we tackle.We present a system capable of using sparse tactile feedback from fingertiptouch sensors on a dexterous hand to localize, identify and grasp novel objectswithout any visual feedback. Videos are available athttps://taochenshh.github.io/projects/tactofind.



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