zhrmichael-logm / minsight-sensor

Code for the Minsight vision-based haptic sensor

Minsight-sensor

By Iris Andrussow, Huanbo Sun, Katherine J. Kuchenbecker, Georg Martius

Table of Contents

0. Introduction
1. Requirements
2. Usage

Introduction

This repository contains PyTorch implementation code for the paper "Minsight: a fingertip-sized vision-based tactile sensor for robotic manipulation", currently under review. This work introduces a machine-learning based fingertip-sized vision-based haptic sensor. Experimental data can be found under https://doi.org/10.17617/3.AEDHD1

Requirements

pip install -r requirements.txt

Usage

Data processing for the raw data can be found in the jupyter notebook under minsight_sensor/data_processing/.
Code for training the mapping on the preprocessed data, can be found in minsight_sensor/training/ and run with python main.py
To reproduce error plots and inference times, refer to the respective scripts in minsight_sensor/. \

To reproduce results for the lump classification experiment, use code in lump_classification/, together with the data published in https://doi.org/10.17617/3.AEDHD1