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AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch
In the real world, we demonstrate successful sim-to-real transfer of the dense tactile policy, generalizing to a diverse range of objects for various rotation axes and hand directions and outperforming other forms of low-dimensional touch.
Snap-it, Tap-it, Splat-it: Tactile-Informed 3D Gaussian Splatting for Reconstructing Challenging Surfaces
Touch and vision go hand in hand, mutually enhancing our ability to understand the world.
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