Visible Touch: Rendering Contact for Visuomotor Policies
Visible Touch: Rendering Contact for Visuomotor Policies
This research introduces Visible Touch, a method that integrates contact information into visuoremotor policies by exposing contact signals in the same spatial frame as the scene. The approach uses a custom low-cost magnetic contact sensor and demonstrates improvements in task success across benchmark environments, including LIBERO and real-world contact-rich tasks.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
percentage points
15.7
View original evidence
Visible Touch improves BC-Transformer success by 15.7 percentage points on average in the 2-view setting
Open source S4percentage points
25
percentage points
30
View original evidence
$\pi_{0.5}$ on four real-world contact-rich tasks gains 30 percentage points with our custom sensor
Open source S5
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
y without architectural changes. We operationalize this insight in Visible Touch, paired with a custom low-cost magnetic contact sensor that is open-sourced and fabricated from off-the-shelf parts via a parametric CAD-to-mold pipeline. Across the LIBERO benchmark, Visible Touch improves BC-Transformer success by 15.7 percentage points on average in the 2-view setting, with similar gains in the 1-view setting; control
Open source S4
led comparisons show that the contact-integration strategy strongly affects how effectively tactile information is used. The pattern holds when fine-tuning pretrained VLAs: miniVLA on LIBERO gains 25 percentage points on average, and $\pi_{0.5}$ on four real-world contact-rich tasks gains 30 percentage points with our custom sensor.
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org