MCube Lab presents "an approach to tactile pose estimation from the first touch for known objects. First, [they] created an object-agnostic map from real tactile observations to contact shapes. Next, for a new object with known geometry, [they devised] a tailored perception model completely in simulation. To do so, the contact shapes were simulated into a dense set of object poses would produce on the sensor. Then, given a new contact shape obtained from the sensor output, [they] matched it against the pre-computed set using the object-specific embedding learned purely in simulation using contrastive learning.
This results in a perception model that can localise objects from a single tactile observation. It also allows reasoning over pose distributions and including additional pose constraints coming from other perception systems or multiple contacts. [This] provides quantitative results for four objects. [Their] approach provides high accuracy pose estimations from distinctive tactile observations while regressing pose distributions to account for those contact shapes that could result from different object poses."
Interpretation requires sensory understanding and linguistic competence. I believe sensory perception is one of the crucial aspect(s) of creatureness in carbon based life. I am curious to explore `interpretation´ in relation to inanimate creatures!!!