• DOI:10.1109/TRO.2019.2959445
Corpus ID: 198985891

Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks

@article{Lee2020MakingSO,
  title={Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks},
  author={M. Lee and Yuke Zhu and Peter Zachares and Matthew Tan and K. Srinivasan and S. Savarese and Feifei Li and Animesh Garg and Jeannette Bohg},
  journal={IEEE Transactions on Robotics},
  year={2020},
  volume={36},
  pages={582-596}
}

M. Lee, Yuke Zhu, +6 authors Jeannette Bohg

Published 2020

Computer Science

IEEE Transactions on Robotics

Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. It is nontrivial to manually design a robot controller that combines these modalities, which have very different characteristics. While deep reinforcement learning has shown success in learning control policies for high-dimensional inputs, these algorithms are generally intractable to train directly on real robots due to sample complexity. In this article, we use self-supervision to learn… CONTINUE READING

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