Factorized Tactile Representation and Control for Sim-to-Real Manipulation
Overview
A new framework separates tactile data into geometry, force, and temporal changes for improved real-world control. Achieves <1 mm localization and 35% better peg insertion in adversarial scenarios.
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- arXiv Robotics — research abstractsFactorized Tactile Representation and Control for Sim-to-Real Manipulation
This research proposes a factorized tactile representation and control framework that maps normal force and contact patch to an effective contact response recoverable from sensor readings. The approach separates contact geometry, force distribution, and temporal contact change, and uses a Tactile Gated Policy to preserve these representations during control. Evaluated in both simulation and the real world, the method achieves <1 mm contact localization, 1.69 N force-tracking error on unseen geometries, and a 35% improvement in adversarial peg insertion over an unfactorized response.
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