Tactile sensors and haptic feedback for robotic manipulation.
Jiahe Pan, Stelian Coros, Jitendra Malik et al. · arXiv preprint · May 2026
A primary bottleneck in contact-rich manipulation is the difficulty of collecting real-world data. Sim-to-real reinforcement learning offers a scalable alternative, but the simulation-reality gap prev
Patrick Rebling, Philipp Nenninger, Reiner Kriesten · arXiv preprint · Sep 2026
The development of autonomous driving demands comprehensive testing in mixed-traffic scenarios involving vulnerable road users (VRUs), where purely artificial agents often fail to capture authentic human social negotiations. While human-in-the-loop (HITL) simulators enable safe investigation of t...
Yu Hu, Fangzhou Zhao, Liang Chen et al. · arXiv preprint · Aug 2026
Airborne torque reaction cannot recover takeoff errors beyond the wheel angular-momentum budget. DART-S applies ramp-face suspension preconditioning to change pitch, pitch rate, and wheel spin before liftoff, thereby shifting the queried state and altering the remaining authority budget. To predi...
Juan José García Cárdenas, Alperen Kenan, Hamidreza Raei et al. · arXiv preprint · Aug 2026
Intuitive teleoperation interfaces are crucial for the safe and effective operation of robotic manipulators in challenging environments. In the nuclear industry, surface contact tasks such as swab sampling require precise path and force tracking, obstacle avoidance, and sustained operator attenti...
Ishtia Zahir, Eslam Saleh, Maryam Rezayati et al. · arXiv preprint · Aug 2026
Textile-integrated capacitive sensors offer flexible and conformable tactile sensing for wearable electronics and human-robot interaction; however, the influence of yarn-level architecture on capacitive transduction characteristics remains insufficiently quantified. This work presents a textile c...
Stefan Schneyer, Timo Bachmann, Maged Iskandar et al. · arXiv preprint · Aug 2026
Contact-centric tasks on surfaces, ranging from inspection and cleaning to sanding and polishing, require robots to systematically cover the surface while maintaining stable contact. Ergodic control generates trajectories that spend time at a location proportional to a desired, task-specific spat...
Xiaofan Lu, Kaiji Huang, Jiahui Chen et al. · arXiv preprint · Jul 2026
Curved tactile fingertips for dexterous manipulation must resolve fine contact geometry, distinguish normal and tangential loads, and capture transient signals. Existing curved vision-based tactile sensors struggle to combine accurate 3D reconstruction, three-axis force estimation, and high-speed...
Dairu Liu, Zekun Qi, Jiayu Zeng et al. · arXiv preprint · Aug 2026
Humanoid motion tracking is central to teleoperation and whole-body imitation, yet evaluation often disagrees with what people perceive in videos. Kinematic errors average per-frame pose differences but miss the physical artifacts that matter most, particularly unstable support and incorrect cont...
Alperen Kenan, Paul Bremner, Manuel Giuliani · arXiv preprint · Aug 2026
Learning from demonstration (LfD) provides a developmental framework through which robots can develop motor skills by observing and imitating human dynamics, reducing reliance on explicit programming to teach a skill to a robot. The resulting human-like robot motion is recognised as a key factor ...
Yibo Liu, Stanko Oparnica, Simon Shewchun-Jakaitis et al. · arXiv · May 2026
Contact-rich manipulation is fundamental in robotics but poses significant challenges due to uncertainties in relative poses, such as misalignments and small clearances in peg-in-hole tasks. Existing approaches typically address search and...
Jaehwi Jang, Zhaoyuan Gu, Alfred Cueva et al. · arXiv preprint · Jun 2026
Whole-body humanoid manipulation of bulky, deformable, and shared-load objects requires distributed contact sensing and explicit force regulation, yet most imitation policies treat contact force only implicitly. On the other hand, different demonstration sources provide complementary modalities with...
Mike Lambeta, Po-Wei Chou, Stephen Tian et al. · IEEE RAL · Jul 2020
An affordable, compact, high-resolution vision-based tactile sensor optimized for in-hand manipulation with real-time fingertip deformation sensing.
Read these papers in order to build expertise in tactile.
Jiahe Pan, Stelian Coros et al. · 2026
Patrick Rebling, Philipp Nenninger et al. · 2026
Yu Hu, Fangzhou Zhao et al. · 2026
Juan José García Cárdenas, Alperen Kenan et al. · 2026
Ishtia Zahir, Eslam Saleh et al. · 2026
Stefan Schneyer, Timo Bachmann et al. · 2026
…and 6 more papers.
