Fingers See Things Differently (FIST-D): An Object Aware Visualization and Manipulation Framework Based on Tactile Observations

Planning object manipulation policies based on tactile observations alone is a challenging task due to the multi-factorial variances in the measured point cloud (e.g. sparsity, missing regions, rotation, etc.) and the limited sensory information available through tactile sensing. Nevertheless, the mainstream grasp planners are designed for well-structured point cloud data, and lack the crucial abi...