Tactile Sensing for Robotic Manipulation

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

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InvariantCloud: A Globally Invariant, Uniquely Indexed Point Cloud Framework for Robust 6-DoF Tactile Pose Tracking
May 24, 2026Pengfei Ye, Yuxiang Ma, Yi Zhou +3Vision-Based Tactile Sensing Object Pose Estimation
Department of Mechanical and Aerospace Engineering, The Hong Kong University of Science and Technology · Department of Mechanical Engineering, Massachusetts Institute of Technology · Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong
TactileReflex: Noise-Statistics-Driven Vision-Tactile Reflex Control for Force-Sensitive Manipulation
May 22, 2026Ziyan Feng, Yulong Fu, Zheng Li +6Robotic Control Vision-Based Tactile Sensing
Thrust of Robotics and Autonomous Systems, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China. · School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China.
TacO: Benchmarking Tactile Sensors for Object Manipulation
May 21, 2026Anya Zorin, Zilin Si, Myungsun Park +11Tactile Sensing Contact-Rich Robotic Manipulation
UC San Diego United States · CMU · UC San Diego +2
roto 2.0: The Robot Tactile Olympiad
May 20, 2026Elle Miller, Jayaram Reddy, Ayush Deshmukh +4RL for Robotics Dexterous Manipulation
University of Edinburgh, UK · National University Singapore, Singapore
VBT-MPC: Vision-Based Tactile MPC for Contour Following
May 19, 2026Edison Velasco-Sanchez, Luis F. Recalde, Guanrui Li +1Vision-Based Tactile Sensing Tactile Sensing
AUROVA Lab, Computer Science Research Institute, University of Alicante, 03690 Alicante, Spain · Worcester Polytechnic Institute, Robotics Engineering, Worcester, MA 01609, USA
TacSE3: Equivariant SE(3) Motion Estimation from Low-Texture Visuotactile Images for In-Gripper Tracking and Compensation
May 18, 2026Zhongyuan Liao, Junzhe Wang, Qingyang Liu +6Tactile Sensing Object Pose Estimation
Hong Kong Center for Construction Robotics, The Hong Kong University of Science and Technology, Hong Kong, China · The Hong Kong University of Science and Technology (Guangzhou), China · School of Engineering, Great Bay University, Dongguan, China
Tactile-based Multimodal Fusion in Embodied Intelligence: A Survey of Vision, Language, and Contact-Driven Paradigms
May 17, 2026Zhixiang Cao, Di Tian, Runwei Guan +11Tactile Sensing Multimodal Generation
School of Electronic Science and Engineering, Xi’an Jiaotong University, China · Thrust of Artificial Intelligence, The Hong Kong University of Science and Technology (Guangzhou), China · State Key Laboratory for Novel Software Technology, Nanjing University, China +7
A Visuo-Tactile Data Collection System with Haptic Feedback for Coarse-to-Fine Imitation Learning
May 9, 2026Yeseung Kim, Nayoung Oh, Jun Park +2Haptic Feedback Imitation Learning
Korea Advanced Institute of Science and Technology, Yuseong-gu Daehak-ro 291, Daejeon 34141, South Korea
AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models
May 8, 2026Xiaoqi Li, Muhe Cai, Jiadong Xu +5Contact-Rich Robotic Manipulation VLM Adaptation
School of Computer Science, Peking University · PrimeBot · PKU Lab
TouchDrive: Electronics-Free Tactile Sensing Interface for Assistive Grasping
May 7, 2026Jing Xu, Xuezhi Niu, Didem Gurdur Broo +1Tactile Sensing Haptic Feedback
Division of Microsystems Technology, Department of Electrical Engineering · Cyber-Physical Systems Lab, Department of Information Technology, Uppsala University, Uppsala, Sweden
Reduced-order Neural Modeling with Differentiable Simulation for High-Detail Tactile Perception
May 6, 2026Yuhu Guo, Zhikai Shen, Jiasheng Qu +4Neural Surrogate Modeling Material Point Method
The University of Manchester, UK · The Chinese University of Hong Kong, Hong Kong SAR, China · University of Leeds, UK +1
From Reach to Insert: Tactile-Augmented Precision Assembly under Sub-Millimeter Tolerances
May 6, 2026Xinpan Meng, Siyao Huang, JingPu Yang +6RL for Robotics Contact-Rich Robotic Manipulation
State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China · School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China
ShapeGrasp: Simultaneous Visuo-Haptic Shape Completion and Grasping for Improved Robot Manipulation
May 4, 2026Lukas Rustler, Matej HoffmannRobotic Grasping 3D Reconstruction
Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic.
FlexiTac: A Low-Cost, Open-Source, Scalable Tactile Sensing Solution for Robotic Systems
Apr 30, 2026Binghao Huang, Yunzhu LiTactile Sensing Tactile Sensing for Robotic Manipulation
Columbia University
Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies
Apr 29, 2026Pokuang Zhou, Yuhao Zhou, Quan Khanh Luu +7Legged Robotics RL for Robotics
Purdue University, West Lafayette, IN, USA. · Istituto Italiano di Tecnologia, Genoa, Italy. · Columbia University, New York, NY, USA.
VTouch++: A Multimodal Dataset with Vision-Based Tactile Enhancement for Bimanual Manipulation
Apr 22, 2026Qianxi Hua, Xinyue Li, Zheng Yan +4Vision-Based Tactile Sensing Tactile Sensing
Humanoid Robot (Shanghai) Co., Ltd., Shanghai, China · Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, China · School of Astronautics, Harbin Institute of Technology, Harbin, China
ETac: A Lightweight and Efficient Tactile Simulation Framework for Learning Dexterous Manipulation
Apr 22, 2026Zhe Xu, Feiyu Zhao, Xiyan Huang +1Robotic Grasping Robotics Simulation
School of Information Science and Technology at ShanghaiTech University, Shanghai 201210, China
TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation
Mar 13, 2026Kaidi Zhang, Heng Zhang, Zhengtong Xu +7Contact-Rich Robotic Manipulation Robotic Manipulation
Edwardson School of Industrial Engineering, Purdue University, West Lafayette, IN 47907, USA · Human-Robot Interfaces and Interaction Lab, Istituto Italiano di Tecnologia, Genova, Italy · Ph.D. program of national interest in Robotics and Intelligent Machines (DRIM) and Universit`a di Genova, Genoa, Italy
Learning Force-Regulated Robotic Manipulation with a Low-Cost Tactile-Force-Controlled Gripper
Feb 10, 2026Xuhui Kang, Tongxuan Tian, Sung-Wook Lee +3Robot Policy Learning Robotic Grasping
Department of Computer Science, University of Virginia, Charlottesville, VA, USA. · Department of Computer Science, Columbia University, New York, NY, USA.
DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter
Feb 5, 2026Xukun Li, Yu Sun, Lei Zhang +10Bimanual Robotic Manipulation Contact-Rich Robotic Manipulation
XYZ Embodied AI, Beijing, China · Beijing Academy of Artificial Intelligence, Beijing, China · School of Computation, Information and Technology, Technical University of Munich, Garching, Germany +3
Tactile Memory with Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist
Jan 27, 2026Tatsuya Kamijo, Mai Nishimura, Nodoka Shibasaki +3Robotic Control Dexterous Manipulation
OMRON SINIC X Corporation, 5-24-5 Hongo, Bunkyo-ku, Tokyo, 113-0033, Japan · The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8654, Japan · Northeastern University, 360 Huntington Ave, Boston, MA, 02115, USA
Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation
Dec 29, 2025Guo Ye, Zexi Zhang, Xu Zhao +4Contact-Rich Robotic Manipulation World Models
Northwestern University, Evanston, IL, USA
Tracing Energy Flow: Learning Tactile-based Grasping Force Control to Reduce Slippage in Dynamic Object Interaction
Dec 24, 2025Cheng-Yu Kuo, Hirofumi Shin, Takamitsu MatsubaraRobotic Grasping Contact-Rich Robotic Manipulation
Graduated School of Science and Technology, Nara Institute of Science and Technology, Nara 630-0192, Japan · Honda R&D, Ltd., Saitama 351-0114, Japan
External Photoreflective Tactile Sensing Based on Surface Deformation Measurement
Nov 9, 2025Seiichi Yamamoto, Hiroki Ishizuka, Takumi Kawasetsu +6Tactile Sensing Tactile Sensing for Robotic Manipulation
Graduate School of Engineering Science, The University of Osaka, Toyonaka 560-0043, Japan
ControlTac: Scaling Tactile Data with Physically Controlled Tactile Image Generation
May 26, 2025Dongyu Luo, Kelin Yu, Amir-Hossein Shahidzadeh +3Vision-Based Tactile Sensing Synthetic Data Generation for Robotics
The University of Hong Kong · University of Maryland · University of Maryland, College Park
Disambiguate Gripper State in Grasp-Based Tasks: Pseudo-Tactile as Feedback Enables Pure Simulation Learning
Mar 31, 2025Yifei Yang, Lu Chen, Zherui Song +5Robotic Grasping Sim-to-Real Transfer
State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China · Huawei
Compact Visuotactile World Models for Lifting: Prediction, Reward Alignment, and Force Constraints
Date pendingQinzhen Ma (Rice University)Robot Skill Learning World Models for Robotics
Rice University, USA

May 24, 2026, cs.ROJ/K move · Enter open · S save

InvariantCloud: A Globally Invariant, Uniquely Indexed Point Cloud Framework for Robust 6-DoF Tactile Pose Tracking

Pengfei Ye, Yuxiang Ma, Yi Zhou, Wei Chen+2

Department of Mechanical and Aerospace Engineering, The Hong Kong University of Science and Technology · Department of Mechanical Engineering, Massachusetts Institute of Technology · Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong

Vision-Based Tactile Sensing Object Pose Estimation Point Cloud Registration Tactile Sensing for Robotic Manipulation

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Recent advances in imitation learning and vision-language models highlight the need for high-fidelity tactile perception, with 6-DoF tactile object pose estimation providing a crucial foundation for precise robotic manipulation. We introduce InvariantCloud, a 6-DoF pose estimation framework that leverages the global invariance of surface marker constellations on vision-based tactile sensors. In contrast to recent approaches, our one-shot globally invariant point cloud registration suppresses cumulative drift and overcomes long-standing limitations in accurately estimating yaw (Z-axis) rotation. Experimental verifications show that InvariantCloud achieves superior yaw tracking accuracy and re-localization repeatability compared to existing benchmarks, demonstrating its precision and robustness in long-sequence manipulation tasks.

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