{"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/virdo-visio-tactile-implicit-representations","title":"VIRDO: Visio-tactile Implicit Representations of Deformable Objects","arxiv_id":"2202.00868","date":"2022-02-02","proceeding":null,"authors":["Youngsun Wi","Pete Florence","Andy Zeng","Nima Fazeli"],"abstract":"Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO:an implicit, multi-modal, and continuous representation for deformable-elastic objects. VIRDO operates directly on visual (point cloud) and tactile (reaction forces) modalities and learns rich latent embeddings of contact locations and forces to predict object deformations subject to external contacts.Here, we demonstrate VIRDOs ability to: i) produce high-fidelity cross-modal reconstructions with dense unsupervised correspondences, ii) generalize to unseen contact formations,and iii) state-estimation with partial visio-tactile feedback","url_abs":"https://arxiv.org/abs/2202.00868v2","url_pdf":"https://arxiv.org/pdf/2202.00868v2.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":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"virdo-visio-tactile-implicit-representations","repo_url":"https://github.com/mmintlab/virdo","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[],"methods":[],"datasets_introduced":[{"slug":"virdo-dataset","name":"VIRDO Dataset","full_name":"VIRDO Simulated Kitchen Utensil Deformation Dataset"}],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2202.00868","atlas_url":"https://app.syntology.ai/?focus=2202.00868","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}