PyTouch: A Machine Learning Library for Touch Processing
This addresses a need for the tactile sensing community by offering a modular and easy-to-use tool, though it is incremental as it builds upon existing methods in a new library format.
The authors tackled the lack of open-source software for processing tactile sensor data by introducing PyTouch, a machine learning library that provides state-of-the-art touch processing capabilities, evaluated on real-world data for tasks like touch detection and slip estimation.
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 processing 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 .