Cross-Modal Visuo-Tactile Object Perception
Estimating physical properties is critical for safe and efficient autonomous robotic manipulation, particularly during contact-rich interactions. In such settings, vision and tactile sensing provide complementary information about object geometry, pose, inertia, stiffness, and contact dynamics, such as stick-slip behavior. However, these properties are only indirectly observable and cannot always be modeled precisely (e.g., deformation in non-rigid objects coupled with nonlinear contact friction), making the estimation problem inherently complex and requiring sustained exploitation of visuo-tactile sensory information during action. Existing visuo-tactile perception frameworks have primar...
| Authors | Anirvan Dutta, Simone Tasciotti, Claudia Cusseddu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 2 April 2026 |
| Last updated at source | 2 April 2026 |
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