{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/pytouch-a-machine-learning-library-for-touch","title":"PyTouch: A Machine Learning Library for Touch Processing","arxiv_id":"2105.12791","date":"2021-05-26","proceeding":null,"authors":["Mike Lambeta","Huazhe Xu","Jingwei Xu","Po-Wei Chou","Shaoxiong Wang","Trevor Darrell","Roberto Calandra"],"abstract":"With the increased availability of rich tactile sensors, there is an equally proportional need for open-source and integrated software capable of efficiently and effectively processing raw touch measurements into high-level signals that can be used for control and decision-making. In this paper, we present PyTouch -- the first machine learning library dedicated to the processing of touch sensing signals. PyTouch, is designed to be modular, easy-to-use and provides state-of-the-art touch processing capabilities as a service with the goal of unifying the tactile sensing community by providing a library for building scalable, proven, and performance-validated modules over which applications and research can be built upon. We evaluate PyTouch on real-world data from several tactile sensors on touch processing tasks such as touch detection, slip and object pose estimations. PyTouch is open-sourced at https://github.com/facebookresearch/pytouch .","url_abs":"https://arxiv.org/abs/2105.12791v1","url_pdf":"https://arxiv.org/pdf/2105.12791v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"pytouch-a-machine-learning-library-for-touch","repo_url":"https://github.com/facebookresearch/pytouch","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"machine-learning","task_name":"BIG-bench Machine Learning"},{"task_slug":"decision-making","task_name":"Decision Making"},{"task_slug":"touch-detection","task_name":"Touch detection"}],"methods":[{"method_slug":null,"method_name":null}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2105.12791","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}