Adaptive Visuo-Tactile Fusion with Predictive Force Attention for Dexterous Manipulation
The work addresses how robots should combine visual and touch data during complex manipulation tasks by creating a force-guided attention fusion module. This module adaptively adjusts the importance of vision versus touch features based on real-time force signals, guided by a self-supervised future force prediction task. The result is a policy that outperforms existing methods across contact-rich tasks.