Tactile Reconstruction of Contact Task Frames and Forces for Hybrid Force/Motion Control

arXiv:2610.10020 · cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Comments: 14 pages, 9 figures, 7 tables. Video: https://youtube.com/playlist?list=PLejKMZmW8AvI. Dataset: https://doi.org/10.5281/zenodo.23209032

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

Terminology

• Soft Optical Tactile — 9× in this paper
• Alignment — 6× in this paper · explained in 1 episode
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Data Augmentation — 2× in this paper · explained in 7 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Admittance Control — 1× in this paper · explained in 1 episode
• Closed-Loop Control — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Extended Kalman Filter — 1× in this paper
• Generalization — 1× in this paper · explained in 13 episodes
• Hysteresis — 1× in this paper · explained in 3 episodes
• Loss Function — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Two-stage training — 1× in this paper · explained in 2 episodes

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