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Hearing Touch: Audio-Visual Pretraining for Contact-Rich Manipulation

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Hearing Touch: Audio-Visual Pretraining for Contact-Rich Manipulation

arXiv:2405.08576v1 Announce Type: new Abstract: Although pre-training on a considerable amount of information is useful for robotic studying, present paradigms solely carry out large-scale pretraining for visible representations, whereas representations for different modalities are educated from scratch. In distinction to the abundance of visible information, it’s unclear what related internet-scale information could also be used for pretraining different modalities corresponding to tactile sensing. Such pretraining turns into more and more essential within the low-data regimes widespread in robotics functions. In this paper, we tackle this hole by utilizing contact microphones instead tactile sensor. Our key perception is that contact microphones seize inherently audio-based info, permitting us to leverage large-scale audio-visual pretraining to acquire representations that increase the efficiency of robotic manipulation. To the most effective of our data, our methodology is the primary strategy leveraging large-scale multisensory pre-training for robotic manipulation. For supplementary info together with movies of actual robotic experiments, please see https://ift.tt/mKk5T4s.

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by way of cs.RO updates on arXiv.org https://ift.tt/FTks806

May 15, 2024 at 09:34AM

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Privacy Policy Updated at 2022-09-29 CHISTO (“we,” “our,” or “us”) is committed to protecting your privacy. This Privacy Policy explains how your personal information is collected, used, and disclosed by CHISTO. This Privacy Policy applies to our website, and its associated subdomains (collectively, our “Service”) alongside our application, CHISTO. By accessing or using our Service, you signify that you have read, understood, and agree to our collection, storage, use, and disclosure of your personal information as described in this Privacy Policy and our Terms of Service. This Privacy Policy was created with Termify. Definitions and key terms To help explain things as clearly as possible in this Privacy Policy, every time any of these terms are referenced, are strictly defined as: Cookie: small amount of data generated by a website and saved by your web browser. It is used to identify your browser, provide analytics, remember information about you such as your language preference or login information. Company: when this policy mentions “Company,” “we,” “us,” or “our,” it refers to CHISTANA, (Pärnu mnt 105, Tallinn 11312 Estonia), that is responsible for your information under this Privacy Policy. Country: where CHISTO or the owners/founders of CHISTO are based, in this case is Estonia Customer: refers to the company, organization or person that signs up to use the CHISTO Service to manage the relationships with your consumers or service users. Device: any internet connected device such as a phone, tablet, computer or any other device that can be used to visit CHISTO and use the services. IP address: Every device connected to the Internet is assigned a number known as an Internet protocol (IP) address. These numbers are usually assigned in geographic blocks. 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We collect information from you when you visit our website, register on our site, place an order, subscribe to our newsletter, respond to a survey or fill out a form. Name / Username Phone Numbers Email Addresses Mailing Addresses Billing Addresses We also collect information from mobile devices for a better user experience, although these features are completely optional: Location (GPS): Location data helps to create an accurate representation of your interests, and this can be used to bring more targeted and relevant ads to potential customers. When does CHISTO use end user information from third parties? CHISTO will collect End User Data necessary to provide the CHISTO services to our customers. End users may voluntarily provide us with information they have made available on social media websites. If you provide us with any such information, we may collect publicly available information from the social media websites you have indicated. 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