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arXiv AI By Tatsuya Kamijo, Mai Nishimura, Nodoka Shibasaki, Jeremy Siburian, Cristian C. Beltran-Hernandez, Masashi Hamaya

Tactile Memory with Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist

Read the original on arXiv AI →

The paper introduces TaMeSo‑bot, a soft‑wrist robotic system that uses tactile memory to perform robust object insertion tasks. It employs a Masked Tactile Trajectory Transformer (MAT³) to jointly model actions, tactile cues, force‑torque data, and proprioception, learning spatiotemporal representations through masked token prediction. Experiments on peg‑in‑hole tasks show that MAT³ outperforms baselines and adapts well to unseen pegs and conditions.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv AI.

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