arXiv:2607. 04234v2 Announce Type: replace-cross Abstract: Deformable object manipulation poses challenges beyond task completion: successful execution must also maintain safe physical interaction, holding the object stably without slip or drop while avoiding excessive deformation.
arXiv:2607. 04234v1 Announce Type: cross Abstract: Deformable object manipulation poses challenges beyond task completion: successful execution must also maintain safe physical interaction, holding the object stably without slip or drop while avoiding excessive deformation.
arXiv:2608.29601v2 Announce Type: replace-cross Abstract: We present $N_0$-Foundation, a paradigm for tactile-enabled embodied manipulation, which integrates tactile sensing hardware, large-scale mul...
arXiv:2608.29601v1 Announce Type: cross Abstract: We present $\mathcal{N}_0$-Foundation, a paradigm for tactile-enabled embodied manipulation, which integrates tactile sensing hardware, large-scale m...
arXiv:2609.15726v1 Announce Type: cross Abstract: Tactile sensing provides contact information that can be difficult to infer from vision alone, but tactile hardware for dexterous hands has not conve...
arXiv:2606. 14188v1 Announce Type: cross Abstract: We present CORD-SLS, a real-time control method for safe deformable object manipulation, with a focus on ropes and cloth.
arXiv:2610.28457v1 Announce Type: cross Abstract: General-purpose multimodal models have shown promise as direct robot action policies, yet whether they grasp the physics underlying real-world intera...
TacSushi is a tactile‑grounded, Cosmos3‑based world‑action policy for dexterous sushi manipulation. It encodes RGB, language, and hand state, fusing fingertip tactile data via feature‑wise gated fusion, and learns from future‑consequence predictions while excluding failed actions from imitation. Trained on 340 successful and 50 failed trials, TacSushi achieves 68.3% in‑distribution and 37.5% out‑of‑distribution success, outperforming baselines that lack future‑consequence supervision or use direct tactile concatenation.
arXiv:2606. 11767v1 Announce Type: cross Abstract: Blind grasping with a dexterous hand is a crucial manipulation capability.
arXiv:2603. 14604v2 Announce Type: replace-cross Abstract: We propose TacFiLM, a lightweight modality-fusion approach that integrates visual-tactile signals into vision-language-action (VLA) models.
HydroShear is a hydroelastic tactile simulator that models stick‑slip transitions, path‑dependent force and shear buildup, and full SE(3) object‑sensor interactions. It uses Signed Distance Functions to track indenter displacements on a sensor membrane, producing physics‑based force fields from arbitrary watertight geometries while remaining engine‑agnostic. Experiments on GelSight Minis show HydroShear reproduces real tactile shear more faithfully than existing methods, enabling zero‑shot sim‑to‑real reinforcement learning with a 93% success rate across four dexterous tasks.
Predicting object dynamics (i. e.
arXiv:2607. 09218v2 Announce Type: replace-cross Abstract: Whole-arm manipulation involves direct contact with the environment while the robot completes a task by distributing contact across multiple links as contacts form, slide, and break.