Paper Link: https://arxiv.org/pdf/2611.03520
Sensor operates at 60 Hz
Tactile Representation
They represent their tactile signal similar to an image, the idea of having multiple channels
This image is 12 x 32
3 channels:
- How hard is the finger being pushed down (“normal”)
- How much it’s being dragged left or right (“shear x”)
- How much it’s being dragged up or down (“shear y”)
They clean noise out of each sensor and get the shape of the contact from the pressure pad; there are 384 taxels (12 * 32) and from that it can tell where the contact is happening
Policy
Visualization from Claude