That Sounds Right: Auditory Self-Supervision for Dynamic Robot Manipulation

Abstract

Learning to produce contact-rich, dynamic behaviors from raw sensory data has been a longstanding challenge in robotics. Prominent approaches primarily focus on using visual and tactile sensing. However, pure vision often fails to capture high-frequency interaction, while current tactile sensors can be too delicate for large-scale data collection. In this work, we propose a data-centric approach to dynamic manipulation that uses an often ignored source of information – sound. We first collect a dataset of 25k interaction-sound pairs across five dynamic tasks using contact microphones. Then, given this data, we leverage self-supervised learning to accelerate behavior prediction from sound. Our experiments indicate that this self-supervised ‘pretraining’ is crucial to achieving high performance, with a $34.5%$ lower MSE than plain supervised learning and a $54.3%$ lower MSE over visual training. Importantly, we find that when asked to generate desired sound profiles, online rollouts of our models on a UR10 robot can produce dynamic behavior that achieves an average of $11.5%$ improvement over supervised learning on audio similarity metrics. Videos and audio data are best seen on our project website: aurl-anon.github.io