mlsanityData to 7 Oct 2026

VIRDO: Visio-tactile Implicit Representations of Deformable Objects

arXiv 2202.00868 ↗First posted 2 Feb 2022cs.ROcited by 25

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Abstract (arXiv)

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

Key facts. Cited by 25 papers in the map (data through 7 Oct 2026). First posted on arXiv 2 Feb 2022.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 8; 2023: 7; 2024: 5; 2025: 4; 2026: 1.

25 papers.

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  1. 2022iSDF: Real-Time Neural Signed Distance Fields for Robot Perceptioncited by 107
  2. 2022Touch and Go: Learning from Human-Collected Vision and Touchcited by 84
  3. 2022Learning Multi-Object Dynamics with Compositional Neural Radiance Fieldscited by 63
  4. 2022SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fieldscited by 51
  5. 2022Reinforcement Learning with Neural Radiance Fieldscited by 43
  6. 2022Visuo-Tactile Transformers for Manipulationcited by 43
  7. 2024PoCo: Policy Composition from and for Heterogeneous Robot Learningcited by 42
  8. 2023D3Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangementcited by 35
  9. 2024Recent Trends in 3D Reconstruction of General Non-Rigid Scenescited by 28
  10. 2022ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulationcited by 24
  11. 2023TouchSDF: A DeepSDF Approach for 3D Shape Reconstruction using Vision-Based Tactile Sensingcited by 15
  12. 2022NeuralGrasps: Learning Implicit Representations for Grasps of Multiple Robotic Handscited by 12
13 more
  1. 2024Learning rigid-body simulators over implicit shapes for large-scale scenes and visioncited by 12
  2. 2025IAAO: Interactive Affordance Learning for Articulated Objects in 3D Environmentscited by 11
  3. 2024DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objectscited by 9
  4. 2023Controllable Visual-Tactile Synthesiscited by 8
  5. 2023SculptBot: Pre-Trained Models for 3D Deformable Object Manipulationcited by 8
  6. 2023Learning Generalizable Tool-use Skills through Trajectory Generationcited by 6
  7. 2023Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedbackcited by 3
  8. 2025ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimationcited by 3
  9. 2025Implicit Neural-Representation Learning for Elastic Deformable-Object Manipulationscited by 2
  10. 2025Force-Modulated Visual Policy for Robot-Assisted Dressing with Arm Motionscited by 2
  11. 2024Implicit Contact Diffuser: Sequential Contact Reasoning with Latent Point Cloud Diffusioncited by 1
  12. 2023Shape from Shading for Robotic Manipulationcited by 0
  13. 2026ParCo-SDF: Learning Prior-Free Partial-to-Complete Signed Distance Fields of Deformable Objectscited by 0