PHASE: Compliance-Enabled Tactile Phase Retrieval for Few-Shot Insertion Learning

arXiv:2609.30889 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-09-25

Comments: Accepted ro IROS 2026. Project page: https://omron-sinicx.github.io/phase/

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

Terminology

Embeddings — 11× in this paper · explained in 2 episodes
Distribution Shift — 10× in this paper · explained in 5 episodes
Alignment — 7× in this paper · explained in 1 episode
Robustness — 7× in this paper · explained in 5 episodes
Generalization — 6× in this paper · explained in 13 episodes
Redundancy — 5× in this paper · explained in 2 episodes
Representation Learning — 5× in this paper · explained in 2 episodes
Transformer — 5× in this paper · explained in 2 episodes
Adaptation — 4× in this paper · explained in 1 episode
Phase Transitions — 4× in this paper · explained in 2 episodes
Reinforcement Learning — 4× in this paper · explained in 4 episodes
Grounding — 3× in this paper · explained in 3 episodes
Affordance — 2× in this paper · explained in 1 episode
Action Chunking — 1× in this paper · explained in 1 episode
Action Space — 1× in this paper · explained in 1 episode
Core — 1× in this paper · explained in 2 episodes
Data Augmentation — 1× in this paper · explained in 7 episodes
Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
Failure Modes — 1× in this paper · explained in 3 episodes
KL Regularization — 1× in this paper · explained in 2 episodes
Multimodal Dataset — 1× in this paper · explained in 2 episodes
Optical Flow — 1× in this paper · explained in 2 episodes
Regularization — 1× in this paper · explained in 3 episodes

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