TEXterity: Tactile Extrinsic deXterity

We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose while simultaneously generating motion plans to control the pose of a grasped object. This approach consists of a discrete pose estimator that uses the Viterbi decoding algorithm to find the most likely sequence of object poses in a coarsely discretized grid, and a continuous pose estimator-controller to refine the pose estimate and accurately manipulate the pose of the grasped object. Our method is tested on diverse objects and configurations, achieving desired manipulation objectives and outperforming single-shot methods in estimation accuracy. The proposed approach holds potential for tasks requiring precise manipulation in scenarios where visual perception is limited, laying the foundation for closed-loop behavior applications such as assembly and tool use. Please see supplementary videos for real-world demonstration at https://sites.google.com/view/texterity.