2023-12-02-guzey23a.md

title	section	openreview	abstract	layout	series	publisher	issn	id	month	tex_title	firstpage	lastpage	page	order	cycles	bibtex_author	author	date	address	container-title	volume	genre	issued	pdf	extras
Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play	Poster	EXQ0eXtX3OW	Teaching dexterity to multi-fingered robots has been a longstanding challenge in robotics. Most prominent work in this area focuses on learning controllers or policies that either operate on visual observations or state estimates derived from vision. However, such methods perform poorly on fine-grained manipulation tasks that require reasoning about contact forces or about objects occluded by the hand itself. In this work, we present T-Dex, a new approach for tactile-based dexterity, that operates in two phases. In the first phase, we collect 2.5 hours of play data, which is used to train self-supervised tactile encoders. This is necessary to bring high-dimensional tactile readings to a lower-dimensional embedding. In the second phase, given a handful of demonstrations for a dexterous task, we learn non-parametric policies that combine the tactile observations with visual ones. Across five challenging dexterous tasks, we show that our tactile-based dexterity models outperform purely vision and torque-based models by an average of 1.7X. Finally, we provide a detailed analysis on factors critical to T-Dex including the importance of play data, architectures, and representation learning.	inproceedings	Proceedings of Machine Learning Research	PMLR	2640-3498	guzey23a	0	Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play	3142	3166	3142-3166	3142	false	Guzey, Irmak and Evans, Ben and Chintala, Soumith and Pinto, Lerrel	given family Irmak Guzey given family Ben Evans given family Soumith Chintala given family Lerrel Pinto	2023-12-02		Proceedings of The 7th Conference on Robot Learning	229	inproceedings	date-parts 2023 12 2	https://proceedings.mlr.press/v229/guzey23a/guzey23a.pdf