WebMar 10, 2024 · Experimental results show that the proposed method, Tactile-Sensitive NewtonianVAE, outperforms naive combination of regression-based grasp pose … WebTactile-Sensitive NewtonianVAE for High-Accuracy Industrial Connector-Socket Insertion Preprint Mar 2024 Ryo Okumura Nobuki Nishio Tadahiro Taniguchi An industrial connector-socket insertion task...
NewtonianVAE: Proportional Control and Goal Identification from …
WebTactile-Sensitive NewtonianVAE for High-Accuracy Industrial Connector Insertion . An industrial connector insertion task requires submillimeter positioning and grasp pose compensation for a plug. Thus, highly accurate estimation of the relative pose between a plug and socket is fundamental for achieving the task. World models are promising ... WebJun 1, 2024 · NewtonianVAE [5], which is a kind of the world models, acquires latent space which is equivalent to mapping from images to physical coordinate. The obtained state representation is appropriate... open closed kitchen sign
NewtonianVAE: Proportional Control and Goal Identification from …
WebDec 9, 2024 · As components of this system, we develop tactile perception networks that classify whether an edge is grasped and estimate the pose of the edge. We use the edge classification network to supervise a visuotactile edge grasp affordance network that can grasp edges with a 90 can slide along the cloth to the adjacent corner using tactile pose ... WebMar 10, 2024 · Experimental results show that the proposed method, Tactile-Sensitive NewtonianVAE, outperforms naive combination of regression-based grasp pose estimator and coordinate transformation. Moreover, we reveal the original NewtonianVAE does not work in some situation, and demonstrate that domain knowledge induction improves … WebProportional control can be achieved in the latent space of NewtonianVAE. However, applying NewtonianVAE to high-accuracy industrial tasks in physical environments is an open problem. Moreover, the existing framework does not consider the grasp pose compensation in the obtained latent space. In this work, we proposed tactile-sensitive ... iowa news about molly tibbetts