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When told to understand the shape of a new object, the most instinctual approach is to pick it up and inspect it with your hand and eyes in tandem. Here, touch provides high fidelity localized information while vision provides complementary global context. However, in 3D shape reconstruction, the complementary fusion of visual and haptic modalities remains largely unexplored. In this paper, we study this problem and present an effective chart-based approach to fusing vision and touch, which leverages advances in graph convolutional networks. To do so, we introduce a dataset of simulated touch and vision signals from the interaction between a robotic hand and a large array of 3D objects. Our results show that (1) leveraging both vision and touch signals consistently improves single-modality baselines, especially when the object is occluded by the hand touching it; (2) our approach outperforms alternative modality fusion methods and strongly benefits from the proposed chart-based structure; (3) reconstruction quality boosts with the number of grasps provided; and (4) the touch information not only enhances the reconstruction at the touch site but also extrapolates to its local neighborhood.

3detr

Code & Models for 3DETR - an End-to-end transformer model for 3D object detection

6dof-auraliser

An auralisation system that takes a head-worn microphone array recordings as input and renders the audio for binaural playback; taking into account both the listener's head-orientation and relative position from the recording point.

accentor

Data & Code for ACCENTOR: "Adding Chit-Chat to Enhance Task-Oriented Dialogues" (NAACL 2021)

access

Code to reproduce the experiments from the paper.

acs

Meta’s Anonymous Credential Service (ACS) is designed to enable it to authenticate users in a “de-identified manner,” permitting access to services without gathering any data that could be used to identify the subject’s identity.

act

ACT An Architectural Carbon Modeling Tool for Designing Sustainable Computer Systems

active-3d-vision-and-touch

A repository for the paper Active 3D Shape Reconstruction from Vision and Touch and robotic touch simulator package.

active-mri-acquisition

Active Acquisition for fastMRI

active_indexing

Official implementation of "Active Image Indexing"

activitynet-entities

A Dataset for Grounded Video Description

ad-library-api-script-repository

GitHub repository of commonly used python scripts that allows everyone to pull data via the Ad Library API

adaptive-softmax

Implements an efficient softmax approximation as described in the paper "Efficient softmax approximation for GPUs" (http://arxiv.org/abs/1609.04309)

adaptive-span

Transformer training code for sequential tasks

adaptive_scheduling

Experimental scripts for researching data adaptive learning rate scheduling.

adaptive_teacher

This repo provides the source code for "Cross-Domain Adaptive Teacher for Object Detection".

adatt

pytorch open-source library for the paper "AdaTT Adaptive Task-to-Task Fusion Network for Multitask Learning in Recommendations"

addressing-the-topological-defects-of-disentanglement

Repo reproducing experimental results in "Addressing the Topological Defects of Disentanglement"

adversarial-continual-learning

Implementation for the paper "Adversarial Continual Learning" in PyTorch.

adversarialanddimensionality

First-Order Adversarial Vulnerability of Neural Networks and Input Dimension

adversarially-motivated-intrinsic-goals

This repository contains code for the method and experiments of the paper "Learning with AMIGo: Adversarially Motivated Intrinsic Goals".

aepsych

AEPsych is a tool for adaptive experimentation in psychophysics and perception research, built on top of gpytorch and botorch.

agem

Official implementation of the Averaged Gradient Episodic Memory (A-GEM) in Tensorflow

agenthive

AgentHive provides the primitives and helpers for a seamless usage of robohive within TorchRL.

agrol

Code release for "Avatars Grow Legs Generating Smooth Human Motion from Sparse Tracking Inputs with Diffusion Model", CVPR 2023

alebo

Re-Examining Linear Embeddings for High-dimensional Bayesian Optimization

alma

Anytime Learning At Macroscale

alphanet

AlphaNet Improved Training of Supernet with Alpha-Divergence

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