SingleS2R: Single sample driven Sim-to-Real transfer for Multi-Source Visual-Tactile Information Understanding using multi-scale vision transformers

Jing Tang, Zeyu Gong, Bo Tao, Zhouping Yin

Abstract: Highlights•Single sample-driven and new state-of-the-art method.•Our method outperforms the others requiring 10000+ samples.•A scale-dependent self-attention mechanism to extract features efficiently.•An adaptive residual block to better capturing contextual features.