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TacSpin: Tactile Tracking of In-Gripper Object Rotation on SO(3) via Axis-Magnitude Estimation
Tracking object motion within a gripper provides essential feedback for robotic manipulation. However, limited contact coverage and uneven deformation make tactile estimation challenging. In this study, we present TacSpin, a method that tracks in-gripper object rotation on SO(3) using only two visio
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