notesum.ai

Published at October 22

cs.CV

cs.AI

cs.CR

Released Date: October 22, 2024

Authors: Venkatesh Pattabiraman¹, Yifeng Cao², Siddhant Haldar¹, Lerrel Pinto¹, Raunaq Bhirangi³

Aff.: ¹New York University; ²Columbia University; ³Carnegie Mellon University

Tactile Sensor

Input Modalities

Policy performance

3rd Person

Camera

Wrist

Cameras

Robot

Proprioception

Plug Insertion

USB Insertion

Card Swiping

Book Retrieval

None

✓

✗

0.0\pm 0.0

0.7\pm 0.6

3.3\pm 1.6

2.0\pm 1.0

✓

✗

✓

0.0\pm 0.0

0.0\pm 0.0

3.0\pm 1.0

0.6\pm 0.5

✓

✗

3.6\pm 0.5

2.3\pm 2.0

1.3\pm 0.5

3.3\pm 1.1

✓

1.0\pm 1.0

2.0\pm 1.0

3.0\pm 1.7

2.3\pm 1.5

✓

✗

2.3\pm 1.1

2.0\pm 1.0

\mathbf{7.0\pm 1.7}

3.6\pm 2.5

✓

✗

✓

1.3\pm 0.5

1.0\pm 1.0

2.6\pm 1.5

2.6\pm 0.5

✓

✗

\mathbf{6.6\pm 1.5}

\mathbf{5.6\pm 1.5}

1.0\pm 1.0

\mathbf{5.3\pm 2.0}

AnySkin (ViSk)

✓

3.6\pm 1.5

2.0\pm 1.0

3.0\pm 1.7

4.6\pm 2.0

DIGIT

✓

✗

2.3\pm 0.5

0.0\pm 0.0

N/A

✓

✗

1.6\pm 1.5

0.3\pm 0.5

N/A