A two-stage diffusion framework generates realistic tactile images from one reference image, conditioned on target contact force and position, and the generated images improve downstream force estimation, pose estimation, and classification.
Jha, Diego Romeres, Sangwoon Kim, Daniel Nikovski, and Alberto Rodriguez
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ControlTac: Force- and Position-Controlled Tactile Data Augmentation with a Single Reference Image
A two-stage diffusion framework generates realistic tactile images from one reference image, conditioned on target contact force and position, and the generated images improve downstream force estimation, pose estimation, and classification.