Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Multimodal Sensory Learning for Real-time, Adaptive Manipulation   Adaptive control for real-time manipulation requires quick estimation and
prediction of object properties. While robot learning in this area primarily
focuses on using vision, many tasks cannot rely on vision due to object
occlusion. Here, we formulate a learning framework that uses multimodal sensory
fusion of tactile and audio data in order to quickly characterize and predict
an object's properties. The predictions are used in a developed reactive
controller to adapt the grip on the object to compensate for the predicted
inertial forces experienced during motion. Drawing inspiration from how humans
interact with objects, we propose an experimental setup from which we can
understand how to best utilize different sensory signals and actively interact
with and manipulate objects to quickly learn their object properties for safe
manipulation.

9
The categories of this paper are: nlin
18
The categories of this paper are: econ
5
The categories of this paper are: gr-qc
6
The categories of this paper are: astro-ph
27
The categories of this paper are: comp-gas
35
The categories of this paper are: mtrl-th
37
The categories of this paper are: supr-con
32
The categories of this paper are: atom-ph
30
The categories of this paper are: q-alg
20
The categories of this paper are: acc-phys
28
The categories of this paper are: alg-geom
31
The categories of this paper are: ao-sci
36
The categories of this paper are: cmp-lg
17
The categories of this paper are: q-fin
22
The categories of this paper are: chao-dyn
23
The categories of this paper are: solv-int