When Does Touch Matter? Charting the Vision-Interaction Gap in Cluttered Dexterous Grasping

arXiv:2609.24068 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-10-13

Comments: 9 pages, 7 figures, 2 tables. Project website: https://interaction-dex-grasp.github.io/

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Ablation — 7× in this paper · explained in 1 episode
• Conference on Robot Learning — 6× in this paper
• Benchmark — 5× in this paper · explained in 2 episodes
• Grounding — 3× in this paper · explained in 3 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Failure Modes — 2× in this paper · explained in 3 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Action Space — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Decode — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Following Minimalist Compliance Control — 1× in this paper
• Generalization — 1× in this paper · explained in 13 episodes
• Graph Neural Network (GNN) — 1× in this paper · explained in 2 episodes
• Inference-Time Steering — 1× in this paper · explained in 2 episodes
• Multimodal Fusion — 1× in this paper · explained in 3 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Steering — 1× in this paper · explained in 2 episodes

Sources

• MoDex: A Diffusion Policy for Sequential Multi-Object Dexterous Grasping
• LUCID: Learning Embodiment-Agnostic Intent Models from Unstructured Human Videos for Scalable Dexterous Robot Skill Acquisition
• Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?
• Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration
• TacDexGrasp: Compliant and Robust Dexterous Grasping with Tactile Feedback
• Current as Touch: Proprioceptive Contact Feedback for Compliant Dexterous Manipulation
• Spatially anchored Tactile Awareness for Robust Dexterous Manipulation
• T-Rex: Tactile-Reactive Dexterous Manipulation

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