Preprint
Sep 2026
ZeroTouch: Tactile-Supervised Visual Contact Estimation for Contact-Rich Manipulation
Reliable robotic grasping benefits from estimating the evolving physical interaction and selecting a grasp-dependent compression target. Tactile sensors provide direct interaction measurements but require dedicated hardware at deployment. We introduce ZeroTouch, a tactile-supervised framework that predicts dense contac...
D. Kosenkov, Daniia Zinniatullina, Miguel Altamirano Cabrera et al.
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