Dynamic Tactile Perception

Follow this topic Ask about this topic

Latest papers

8 papers1 paper in the last four weeks, down 67% on the four weeks before. 0.0% of all new papers.

TAPNAV: Humanoid Navigation through Tactile Active Perception
Oct 7, 2026Huaze Liu, Zhenyu Wu, Jaehwi Jang +8Dynamic Tactile Perception Robot Navigation
Georgia Institute of Technology · Harvey Mudd College · Walton High School
Learning with Object-centric Representations of Tactile Interactive Perception for Robot Manipulation
Sep 27, 2026Xinyi Yang, Zilin Si, Zhuowei Xu +2Dynamic Tactile Perception Tactile Sensing for Robotic Manipulation
Robotics Institute Carnegie Mellon University United States
DA-GRD: Decision-Aware Grasp-Relevant Disambiguation for tactile recovery under perception-to-execution mismatches
Sep 24, 2026Haoran Wang, Yuteng Sun, Yuanjie Li +6Robotic Grasping Active Sensing
Michael · Institute of Advanced Intelligence and Computing (IAIC), Agency for Science, Technology and Research (A*STAR), Singapore
TacClip: a clip-on sensor measures dynamic contact forces without covering the fingerpads
Sep 8, 2026Yuqian Ye, Hao Li, Jingxi Xu +3Tactile Sensing Wearable Sensing
Department of Mechanical Engineering, Stanford University, Stanford, CA, USA · Ant Group, Sunnyvale, CA, USA
Detection and Ranging of Transient Extrinsic Contacts Based on 6D Dynamic Tactile Sensing
Aug 7, 2026Haowen Zheng, Yinghao Wu, Fuyuan Liu +2Tactile Sensing Dynamic Tactile Perception
School of Computer Science and Technology, Harbin Institute of Technology, Shenzhen, Shenzhen 518055, China
Topology-Agnostic Mesh Reconstruction of Deformable Objects from Sparse Touch
Jul 15, 2026Everest Yang3D Reconstruction Deformable Shape Reconstruction
Brown University
TacReasoner: A Dynamic Tactile-Language Framework for Interactive Reasoning in Real-World Scenarios
Jul 6, 2026Kailin Lyu, Di Wu, Long Xiao +7Tactile Sensing Multimodal Reasoning
Institute of Automation, Chinese Academy of Sciences, Beijing, China. · Beijing Zhongguancun Academy, Beijing, China. · Nanyang Technological University, Singapore. +1
Tactile MNIST: Benchmarking Active Tactile Perception
Jun 3, 2025Tim Schneider, Guillaume Duret, Cristiana de Farias +3Dynamic Tactile Perception Tactile Sensing
Department of Computer Science, TU Darmstadt, Germany. · LIRIS, CNRS UMR5205, Ecole Centrale de Lyon, France. · LASR Lab & CeTI, TU Dresden, Germany. +1

Oct 7, 2026J/K move · Enter open · S save

TAPNAV: Humanoid Navigation through Tactile Active Perception

Huaze Liu, Zhenyu Wu, Jaehwi Jang, Junjie Sheng+7

Georgia Institute of Technology · Harvey Mudd College · Walton High School

Dynamic Tactile Perception Robot Navigation Mobile Robotics Robot Localization

Open paper AskPDF arXiv

Navigation in vision-denied environments is challenging for humanoid robots because proprioceptive odometry drifts and localization uncertainty accumulates rapidly. We present TAPNAV, a tactile active-perception framework that enables humanoid navigation toward a goal by actively probing surrounding structures without relying on vision. TAPNAV maintains a pose belief from odometry, IMU, and tactile contact observations, and couples uncertainty-aware global route planning with information-gain-driven local probing. The global planner searches for routes that keep predicted localization uncertainty bounded by exploiting opportunities for tactile correction, while the local planner selects probe actions that maximize expected information gain. A whole-body controller coordinates the humanoid's locomotion and end-effector contact to execute the planned navigation and probe motions. We evaluate TAPNAV in simulation and on a Unitree G1 across different floor plans and obstacle geometries. TAPNAV achieves lower state estimation error and a higher task completion rate than baselines. These results demonstrate that actively planning physical interactions with the environment can provide localization cues for reliable humanoid navigation without vision.