Tracks
Track 1: Visuotactile Manipulation
This track includes two tasks: peg insertion and lock opening. Similar to the ManiSkill challenge, we focus on evaluating the policy’s generalizability. Each task includes multiple objects of different shapes (e.g., the peg can be a cuboid or a trapezoid, and keys can have two or three teeth), which are unknown during evaluation. Therefore, the policy needs to be able to generalize to different pegs and keys.
Track 2: Tactile-Vision-Fusion Manipulation
In this track, the experimental setup remains unchanged. However, compared to the only tactile task, a Realsense D415 is used to provide visual information, and the distance between the peg and the hole is increased. The gripper needs to determine which hole to insert the peg into based on the shape of the gripped peg. Since the tactile information remains the same during the approach to the hole, the task primarily relies on visual data for decision-making.
Track 3: Sensor Structure Design
In this track, we evaluate the structural design of tactile sensors using the Gelsight Mini as a reference model. Teams are allowed to freely modify the shape of the silicone part of the sensor, as well as the number and distribution of markers. However, it is important to note that the silicone must remain firmly attached to the base, meaning the base size must stay fixed at 20.75mm x 25.25mm. The physical parameters of the silicone will be provided by us.
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