Uncertainty-aware deep learning for robot touch: Application to Bayesian tactile servo control
Manuel Floriano Vázquez Nathan F. Lepora Manuel Floriano Vázquez Nathan F. Lepora
This work investigates uncertainty-aware deep learning (DL) in tactile robotics based on a general framework introduced recently for robot vision. For a test scenario, we consider optical tactile sensing in combination with DL to estimate the edge pose as a feedback signal to servo around various 2D test objects. We demonstrate that uncertainty-aware DL can improve the pose estimation over determi...