Author

Carlo Kneissl

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Preprint Sep 2026

TACTIC: Understanding Tactile Encoders and Conditioning for Contact-rich Robot Manipulation Policies

Tactile information is essential for contact-rich manipulation tasks in robotics. Vision-based tactile sensors make it particularly easy to design end-to-end manipulation policies with tactile sensing, as they enable the use of existing encoders from computer vision. However, this has led to a huge variety of architect...

Seongjin Bien, Débora Oliveira Makowski, Carlo Kneissl et al. · 0 citations

#machine learning Preprint Sep 2026

Scale Sensitivity in Low-Bit Post-Training Quantization: Curvature of the Quantization Error Landscape

Post-training quantization (PTQ) methods in the GPTQ family minimize a layer-wise reconstruction error on a uniform grid whose scale must be chosen; the common max-based choice degrades sharply at low bit-widths. We study how sensitive this objective is to the scale. For a layer with i.i.d. Gaussian weights and calibra...

Jonas von Berg, Massimiliano Datres, Carlo Kneissl et al. · 0 citations