TACIT: Tactile Contact Supervision for Spatial Attention in Dexterous Manipulation

arXiv:2609.24507 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-21

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

Terminology

• Benchmark — 9× in this paper · explained in 2 episodes
• Grounding — 4× in this paper · explained in 3 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Foundation Model — 2× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• GuidedAttention: Interpretable and Correctable Visual Attention for OOD-Robust Robot Manipulation via Imitation Learning
• ISS Policy : Scalable Diffusion Policy with Implicit Scene Supervision
• TransDex: Pre-training Visuo-Tactile Policy with Point Cloud Reconstruction for Dexterous Manipulation of Transparent Objects
• Imagining the Sense of Touch: Touch-Informed Manipulation via Imagined Tactile Representations
• CAAT: Contact-Aware Attention Scaling and Tactile Masking for Data-Efficient Contact-Rich Manipulation
• Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation
• Tac2Pix: Image-Space Visuo-Tactile Fusion for Dexterous Manipulation
• DexGrasp-Diffusion: Diffusion-based Unified Functional Grasp Synthesis Method for Multi-Dexterous Robotic Hands

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