GLoTouch: Global-to-Local Haptic Perception Using a Parallel Gripper for Object Search, Recognition, and Grasping Without External Vision

arXiv:2609.27695 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

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

Terminology

• Aperture — 5× in this paper · explained in 1 episode
• Ablation — 3× in this paper · explained in 1 episode
• Accuracy — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Consistency — 3× in this paper · explained in 3 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Anisotropy — 2× in this paper · explained in 3 episodes
• Calibration — 2× in this paper · explained in 7 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Trace — 2× in this paper · explained in 2 episodes
• Active Learning — 1× in this paper · explained in 6 episodes
• Active Perception — 1× in this paper · explained in 2 episodes
• Aperture Bias — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• TactoFind: A Tactile Only System for Object Retrieval
• TACTFUL: Tactile-Driven Exploration For Object Localization and Identification in Confined Environments
• Contact SLAM: An Active Tactile Exploration Policy Based on Physical Reasoning Utilized in Robotic Fine Blind Manipulation Tasks
• UniVTAC: A Unified Simulation Platform for Visuo-Tactile Manipulation Data Generation, Learning, and Benchmarking

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