Visual-Tactile Sensing for Real-time Liquid Volume Estimation in Grasping

no code implementations • 23 Feb 2022 • Fan Zhu, Ruixing Jia, Lei Yang, Youcan Yan, Zheng Wang, Jia Pan, Wenping Wang

We propose a deep visuo-tactile model for realtime estimation of the liquid inside a deformable container in a proprioceptive way. We fuse two sensory modalities, i. e., the raw visual inputs from the RGB camera and the tactile cues from our specific tactile sensor without any extra sensor calibrations. The robotic system is well controlled and adjusted based on the estimation model in real time.

Multi-Task Learning