AnySkin: Plug-and-play Skin Sensing for Robotic Touch
Raunaq Bhirangi, Venkatesh Pattabiraman, Enes Erciyes, Yifeng Cao,, Tess Hellebrekers, Lerrel Pinto

TL;DR
AnySkin introduces a versatile, easy-to-attach tactile sensor for robots that enables zero-shot transfer of learned manipulation skills across different sensor instances, simplifying tactile sensing integration.
Contribution
It presents a new adhesive-free, durable tactile sensor with a streamlined fabrication process and demonstrates zero-shot generalization of manipulation policies across sensor instances.
Findings
Zero-shot policy transfer across sensor instances
Comparable performance to DIGIT and ReSkin sensors
Simplified sensor fabrication and integration
Abstract
While tactile sensing is widely accepted as an important and useful sensing modality, its use pales in comparison to other sensory modalities like vision and proprioception. AnySkin addresses the critical challenges that impede the use of tactile sensing -- versatility, replaceability, and data reusability. Building on the simplistic design of ReSkin, and decoupling the sensing electronics from the sensing interface, AnySkin simplifies integration making it as straightforward as putting on a phone case and connecting a charger. Furthermore, AnySkin is the first uncalibrated tactile-sensor with cross-instance generalizability of learned manipulation policies. To summarize, this work makes three key contributions: first, we introduce a streamlined fabrication process and a design tool for creating an adhesive-free, durable and easily replaceable magnetic tactile sensor; second, we…
Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Code & Models
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
Taxonomy
TopicsInteractive and Immersive Displays · Gaze Tracking and Assistive Technology · Advanced Sensor and Energy Harvesting Materials
