Tactile Sensing for Robotic Manipulation

Follow this topic Ask about this topic

Momentum

29 papers in the last four weeks, up 867% on the four weeks before. 0.3% of all new papers.

Jul 13Week of Sep 28

Latest papers 117

All topics

Factorized Tactile Representation and Control for Sim-to-Real Manipulation
Oct 7, 2026Siqi Shang, Bianca Aumann, Tye Brady +2Sim-to-Real Transfer Tactile Sensing for Robotic Manipulation
Amazon Fulfillment Technologies & Robotics, Westborough, MA, USA. · Department of Electrical and Computer Engineering, The University of Texas at Austin, Austin, TX, USA.
OpenViTac: Learning and Benchmarking Visuo-Tactile Policies in a Unified Sim-and-Real Framework
Oct 7, 2026Yifan Wu, Qin Li, Nan Min +14Robot Manipulation Benchmarks Tactile Sensing for Robotic Manipulation
Fudan University · Shanghai Key Laboratory of Multimodal Embodied AI · Hefei University of Technology +3
Temporal Visuo-Tactile Learning for Dexterous Grasp Stability
Oct 7, 2026Ken Nakahara, Aleksei Buvailik, Prokhor Kotov +1Robotic Grasping Tactile Sensing for Robotic Manipulation
LASR Lab, Faculty of Computer Science, TU Dresden, Germany
MagCilia: A Compact Magnetociliary Tactile Sensor with 3D Force Sensing for Robotic Contact Perception and Grasping Feedback
Oct 7, 2026Yu Feng, Hao Wu, Haotian Guo +7Tactile Sensing Tactile Sensing for Robotic Manipulation
Department of Mechanical Engineering, National University of Singapore, Singapore · Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA, USA · Mechanical Engineering Department, City University of Hong Kong, Kowloon, Hong Kong SAR, and CAS-CityU Joint Laboratory for Robotic Research, City University of Hong Kong Shenzhen Research Institute, Shenzhen, China
RLHND: Video Foundation Models as Physically Grounded Hand Trackers for Robot Learning
Oct 7, 2026Seungjun Moon, Subin Jeon, Sangwoo Kim +23D Hand Pose Estimation Tactile Sensing for Robotic Manipulation
RLWRLD · KAIST · Seoul National University
MIM-VLA: Learning Physical Interaction Representations from Gripper Motor Feedback
Oct 6, 2026Jaeyoung Lee, Jiyeon Koo, Taehwa Kim +2Robotic Grasping Visuomotor Policy Learning
School of Computing, iRASC Lab., Gachon University, Seongnam, Republic of Korea
ReDex: Repairing Sim-to-Real Dexterous Policies by Finger-Level Compliant Interaction
Oct 5, 2026Jinzhou Li, Hadi Tabatabaee, Kelin Yu +6Sim-to-Real Transfer Robotic Manipulation
Amazon · Duke University · University of Maryland, College Park +2
Tactile Curiosity Drives Robot Interaction
Sep 30, 2026Klemens Iten, Alexander Proshkin, Bhavya Sukhija +4Robotic RL Data-Efficient Robot Learning
University of California, Berkeley United States · The University of Texas at Austin United States
PneuTac: Tactile Manipulation with Soft Pneumatic Robots via Unified MPM-Gaussian Splatting Simulation
Sep 29, 2026Shaohong Zhong, Marco Pontin, Joe Watson +2Robotics Simulation Synthetic Data Generation for Robotics
Oxford Robotics Institute, Department of Engineering Science, University of Oxford, OX1 3PJ Oxford, U.K.
TaRL: Learning General and Physical Rewards from Tactile Demonstrations
Sep 29, 2026Po-Yi Wu, Dao-Jan Chang, Shang-Ya Hsiao +3RL for Robotics Contact-Rich Robotic Manipulation
National Taiwan University
HACo: Learning Haptic Active Compliance for Force-Aware Dexterous Manipulation
Sep 29, 2026Naisheng Ye, Yinzhe Zhou, Junkai Zhao +5Contact-Rich Robotic Manipulation Robotic Manipulation
The University of Hong Kong, Hong Kong SAR, China · Beijing Academy of Artificial Intelligence (BAAI), Beijing, China · Johns Hopkins University, Baltimore, MD, USA
Dexterous Tactile World Model
Sep 28, 2026Ziyao Zeng, Xiatao Sun, Hao Wang +6Video Diffusion Models World Model Learning
Yale University · Texas A&M University · University of California, Los Angeles +1
TacGooseBumps (TacGB): Retrofitting Normal-Only Tactile Sensors with Shear Encoding for Learning Contact-Rich Manipulation
Sep 27, 2026Wenjie Li, Binyu Yang, Yuxin Chen +2Tactile Sensing Contact-Rich Robotic Manipulation
University of California, Berkeley · Saratoga High School
DexTaG: Tactile-as-Guidance in Reinforcement Learning for Dexterous Manipulation
Sep 27, 2026Han Yang, Yian Wang, Yunlong Song +2Reinforcement Learning Contact-Rich Robotic Manipulation
University of Massachusetts Amherst. · Genesis AI.
Self-Supervised Anchoring of Fingertip Sensing to Proprioception and Proactive Actions for Robot Imitation Learning
Sep 24, 2026Tomohiro Motoda, Masaki Murooka, Keisuke Shirai +6Robot Imitation Learning Tactile Sensing for Robotic Manipulation
Embodied AI Research Team, AIRC and National Institute of Advanced Industrial Science and Technology (AIST) · CNRS-AIST JRL (Joint Robotics Laboratory), IRL and National Institute of Advanced Industrial Science and Technology (AIST)
PolyUMI: Accessible Visual-Tactile-Audio Data Collection for Object Inference and Manipulation
Sep 24, 2026Conor W. Hayes, Rickmer Krohn, Aravind Ramaswami +6Contact-Rich Robotic Manipulation Robotic Data Collection
Center for Robotics and Biosystems, Northwestern Univ., Evanston, IL, USA · Interactive Robot Perception & Learning (PEARL) Lab, TU Darmstadt, Germany · Robotics Institute Germany (RIG)
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 · Nanyang Technological University, Singapore +1
What is the Better Curriculum: Controller-Shaped Grasping Behavior for Contact Force-Sensitive Manipulation
Sep 22, 2026Ziyan Feng, Zizhao Yuan, Yulong Fu +6Robotic Grasping Force-Controlled Robotic Manipulation
The Hong Kong University of Science and Technology (Guangzhou)
CableVLA: Simulation-Privileged Global-Local Representation Learning for Cable Routing
Sep 22, 2026Zhifei Teng, Bo Feng, Xiang Zou +4Visuo-Tactile Representation Learning Sim-to-Real Transfer
State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China. · School of Mathematics, Harbin Institute of Technology, Harbin, China.
DexTacWAM: A Visuo-Tactile World-Action Model for Dexterous Manipulation
Sep 21, 2026Haoran Yuan, Zekai Wang, Boning Shao +4World Models for Robotics Contact-Rich Robotic Manipulation
University of Illinois Urbana-Champaign · University of California, Berkeley · Northwestern University
Touch2Robot: Robot Touch in the Human Demonstration Loop
Sep 21, 2026Shengcheng Luo, Xiaoyang Cheng, Hong Ying +6Robotic Data Collection Motion Retargeting
ShanghaiTech University · Beijing Institute for General Artificial Intelligence (BIGAI) · Shanghai Jiao Tong University +1
Learning tactile perception from high-bandwidth single-point sensing
Sep 21, 2026Joseph Rigal, Emmanuel Virot, Caroline PascalTactile Sensing Tactile Sensing for Robotic Manipulation
Wormsensing, 1Wormsensing, 2 Rue des Murailles, 38170 Seyssinet-Pariset, France. · Hugging Face, 2 Hugging Face, 9 rue des Colonnes, 75002 Paris, France.
TACIT: Tactile Contact Supervision for Spatial Attention in Dexterous Manipulation
Sep 21, 2026Yanhou Lai, Fucai Zhu, Ruiqiang Wang +1Contact-Rich Robotic Manipulation Robot Imitation Learning
Graduate School of Information Sciences, Tohoku University, Sendai 980-8579, Japan
Tactile-JEPA: Topology-Aware Self-Supervised Representation Learning for Distributed Tactile Sensors
Sep 21, 2026Elizaveta Kovtun, Matvey Konovalov, Andrey Sakhovskiy +1Tactile Sensing Self-Supervised Learning
Sber AI, Moscow, Russia · Skolkovo Institute of Science and Technology (Skoltech), Moscow, Russia · HSE University, Moscow, Russia +1
GraspTune: Tactile-Driven Execution Refinement for Robust Grasping
Sep 21, 2026Juntao Li, Xingke Xia, Sichao Liu +1Robotic Grasping Generalization in Robotic Manipulation
The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China · KTH Royal Institute of Technology, Stockholm, Sweden
When Does Touch Matter? Charting the Vision-Interaction Gap in Cluttered Dexterous Grasping
Sep 21, 2026Hao Jiang, Luis Dominguez, Daniel SeitaDexterous Manipulation Tactile Sensing for Robotic Manipulation
Thomas Lord Department of Computer Science, University of Southern California, USA · University of New Mexico, USA
HapticWAM: Distilling Imagined Touch into a World-Action Model without Inference-Time Tactile Sensing
Sep 20, 2026Mikhail Sannikov, Ilya Mikhalchuk, Konstantin Gubernatorov +3World Models for Robotics Contact-Rich Robotic Manipulation
Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia
ME-Dex 1.0: Bringing Heterogeneous Tactile Sensing into World Action Modeling
Sep 18, 2026Xuancheng Zhang, Xuetao Liu, Qianying Tang +8World Models for Robotics Visuo-Tactile Representation Learning
Foundation Model, Li Auto Inc.
TacSushi: Tactile-Grounded World-Action Modeling for Dexterous Sushi Manipulation
Sep 17, 2026Haodi Hu, Kaen Kogashi, Toshiaki Koike-AkinoWorld Models for Robotics Contact-Rich Robotic Manipulation
University of Southern California, USA · Mitsubishi Electric Research Laboratories (MERL), USA · Mitsubishi Electric, Japan
TacBPM: A Tactile-conditioned Behavior Prior Model for Dexterous Reorientation
Sep 16, 2026Jie Yin, Wanli Xing, Zeyuan Zhao +3Latent Action Learning Dexterous Manipulation
Sharpa Robotics

Oct 7, 2026, cs.ROJ/K move · Enter open · S save

Factorized Tactile Representation and Control for Sim-to-Real Manipulation

Siqi Shang, Bianca Aumann, Tye Brady, Joshua Migdal+1

Amazon Fulfillment Technologies & Robotics, Westborough, MA, USA. · Department of Electrical and Computer Engineering, The University of Texas at Austin, Austin, TX, USA.

Sim-to-Real Transfer Tactile Sensing for Robotic Manipulation Contact-Rich Robotic Manipulation Force-Controlled Robotic Manipulation

Open paper AskPDF arXiv

Tactile sim-to-real learning must bridge simulated contact and device-specific sensor responses while preserving information needed for control. We propose a factorized tactile representation and control framework that maps normal force and contact patch to an effective contact response recoverable from sensor readings. The response is separated into contact geometry, force distribution, and temporal contact change, with representation-specific encoding and randomization. A Tactile Gated Policy preserves these representations separately through control and operates over all mask configurations without retraining. We evaluate the approach through response reconstruction, spatial alignment, force regulation, and contact-rich adversarial peg insertion in simulation and the real world, enabling the utility and transfer reliability of different tactile representations to be assessed independently. The approach achieves <1 mm contact localization, 1.69 N force-tracking error on unseen geometries, and a 35% improvement in real-world adversarial peg insertion over the unfactorized response, with different tactile representations benefiting different interactions.

Momentum

Related topics

Latest papers 117