论文标题
virdo：可变形对象的visio-tactile隐式表示
VIRDO: Visio-tactile Implicit Representations of Deformable Objects
论文作者
论文摘要
可变形的对象操作需要与机器人感应方式兼容的计算有效表示。在本文中，我们提出了Virdo：可变形弹性对象的隐式，多模式和连续表示。 Virdo直接在视觉（点云）和触觉（反作用力）模式下运行，并学习了接触位置和力量的丰富潜在嵌入，以预测受外部接触的物体变形。
Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO:an implicit, multi-modal, and continuous representation for deformable-elastic objects. VIRDO operates directly on visual (point cloud) and tactile (reaction forces) modalities and learns rich latent embeddings of contact locations and forces to predict object deformations subject to external contacts.Here, we demonstrate VIRDOs ability to: i) produce high-fidelity cross-modal reconstructions with dense unsupervised correspondences, ii) generalize to unseen contact formations,and iii) state-estimation with partial visio-tactile feedback
