Article

A physics-grounded tactile representation for generalizable contact-rich manipulation

2026-07-15

Abstract excerpt

<title>Abstract</title> <p>Humans can actively perceive and interpret physical contact during object manipulation, which enables adaptive and generalized manipulation abilities. In contrast, most robotic systems still lack such fundamental capability. Despite advances in tactile sensing and learning-based approaches, many systems still couple high-dimensional raw signals directly to control policies, limiting res...

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Literature Corpus work: 05ab79e3-9198-57f0-9c35-ab4d5c7301c7
DOI: 10.21203/rs.3.rs-9874749/v1

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