As for what it is sensing, we learn end to end policies in this case, and allow the neural network can pick up on whatever it needs for the particular task! but

As for what it is sensing, we learn end to end policies in this case, and allow the neural network can pick up on whatever it needs for the particular task! but we have run experiments with a predecessor of AnySkin, ReSkin: https://reskin.dev https://reskin.dev that indicate you can localize contact at sub-mm scale as well as sense normal and shear forces!