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.
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