Analysing the Interplay of Vision and Touch for Dexterous Insertion Tasks

Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively integrating these modalities in robotic systems is still an open problem. Our work presents an extensive analysis of the interplay between visual and tactile feedback during dexterous insertion tasks, showing that tactile sensing can greatly enhance success rates on challenging insertions with tight tolerances and varied hole orientations that vision alone cannot solve. These findings provide valuable insights for designing more effective multi-modal robotic control systems and highlight the critical role of tactile feedback in contact-rich manipulation tasks.

Machine Learning with Physics Knowledge for Prediction: A Survey

This survey examines the broad suite of methods and models for combining machine learning with physics knowledge for prediction and forecast, with a focus on partial differential equations. These methods have attracted significant interest due to their potential impact on advancing scientific research and industrial practices by improving predictive models with small- or large-scale datasets and expressive predictive models with useful inductive biases. The survey has two parts. The first considers incorporating physics knowledge on an architectural level through objective functions, structured predictive models, and data augmentation. The second considers data as physics knowledge, which motivates looking at multi-task, meta, and contextual learning as an alternative approach to incorporating physics knowledge in a data-driven fashion. Finally, we also provide an industrial perspective on the application of these methods and a survey of the open-source ecosystem for physics-informed machine learning.

Learning Tactile Insertion in the Real World

Humans have exceptional tactile sensing capabilities, which they can leverage to solve challenging, partially observable tasks that cannot be solved from visual observation alone. Research in tactile sensing attempts to unlock this new input modality for robots. Lately, these sensors have become cheaper and, thus, widely available. At the same time, the question of how to integrate them into control loops is still an active area of research, with central challenges being partial observability and the contact-rich nature of manipulation tasks. In this study, we propose to use Reinforcement Learning to learn an end-to-end policy, mapping directly from tactile sensor readings to actions. Specifically, we use Dreamer-v3 on a challenging, partially observable robotic insertion task with a Franka Research 3, both in simulation and on a real system. For the real setup, we built a robotic platform capable of resetting itself fully autonomously, allowing for extensive training runs without human supervision. Our preliminary results indicate that Dreamer is capable of utilizing tactile inputs to solve robotic manipulation tasks in simulation and reality. Furthermore, we find that providing the robot with tactile feedback generally improves task performance, though, in our setup, we do not yet include other sensing modalities. In the future, we plan to utilize our platform to evaluate a wide range of other Reinforcement Learning algorithms on tactile tasks.

Pseudo-Likelihood Inference

Simulation-Based Inference (SBI) is a common name for an emerging family of approaches that infer the model parameters when the likelihood is intractable. Existing SBI methods either approximate the likelihood, such as Approximate Bayesian Computation (ABC) or directly model the posterior, such as Sequential Neural Posterior Estimation (SNPE). While ABC is efficient on low-dimensional problems, on higher-dimensional tasks, it is generally outperformed by SNPE, which leverages function approximation. In this paper, we propose Pseudo-Likelihood Inference (PLI), a new method that brings neural approximation into ABC, making it competitive on challenging Bayesian system identification tasks. By utilizing integral probability metrics, we introduce a smooth likelihood kernel with an adaptive bandwidth that is updated based on information-theoretic trust regions. Thanks to this formulation, our method (i) allows for optimizing neural posteriors via gradient descent, (ii) does not rely on summary statistics, and (iii) enables multiple observations as input. In comparison to SNPE, it leads to improved performance when more data is available. The effectiveness of PLI is evaluated on four classical SBI benchmark tasks and on a highly dynamic physical system, showing particular advantages on stochastic simulations and multi-modal posterior landscapes.