TouchGuide improves contact-rich robot manipulation by steering diffusion or flow-matching visuomotor policies with tactile feasibility scores from a contrastively trained Contact Physical Model.
Effective estimation of contact force and torque for vision-based tactile sensors with helmholtz–hodge decomposition.IEEE Robotics and Automation Letters, 4(4):4094–4101
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TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance
TouchGuide improves contact-rich robot manipulation by steering diffusion or flow-matching visuomotor policies with tactile feasibility scores from a contrastively trained Contact Physical Model.