PyTouch: A Machine Learning Library for Touch Processing [article]

Mike Lambeta, Huazhe Xu, Jingwei Xu, Po-Wei Chou, Shaoxiong Wang, Trevor Darrell, Roberto Calandra
2021 arXiv   pre-print
With the increased availability of rich tactile sensors, there is an equally proportional need for open-source and integrated software capable of efficiently and effectively processing raw touch measurements into high-level signals that can be used for control and decision-making. In this paper, we present PyTouch -- the first machine learning library dedicated to the processing of touch sensing signals. PyTouch, is designed to be modular, easy-to-use and provides state-of-the-art touch
more » ... ng capabilities as a service with the goal of unifying the tactile sensing community by providing a library for building scalable, proven, and performance-validated modules over which applications and research can be built upon. We evaluate PyTouch on real-world data from several tactile sensors on touch processing tasks such as touch detection, slip and object pose estimations. PyTouch is open-sourced at https://github.com/facebookresearch/pytouch .
arXiv:2105.12791v1 fatcat:3ipl3tbofjfmjkyk4ami46llfu