TacO: Benchmarking Tactile Sensors for Object Manipulation
Overview
This research paper introduces TacO, a framework for benchmarking tactile sensors in robot manipulation. The authors evaluate four sensor modalities (visual, acoustic, magnetic, and resistive) across three tasks: pick-and-place with unknown mass, object reorientation, and plug insertion. Results indicate that the effectiveness of tactile sensing varies significantly based on sensor modality, material properties, and specific task requirements, challenging the notion of universal tactile benefits. The study provides empirical guidance for selecting sensors based on manipulation policy performance.
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“and the specific manipulation tasks. The tactile sensors, code, data, and hardware setup will be publicly available on the project website.”
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- arXiv Robotics — research abstractsSignalTacO: Benchmarking Tactile Sensors for Object Manipulation
This research paper introduces TacO, a framework for benchmarking tactile sensors in robot manipulation. The authors evaluate four sensor modalities (visual, acoustic, magnetic, and resistive) across three tasks: pick-and-place with unknown mass, object reorientation, and plug insertion. Results indicate that the effectiveness of tactile sensing varies significantly based on sensor modality, material properties, and specific task requirements, challenging the notion of universal tactile benefits. The study provides empirical guidance for selecting sensors based on manipulation policy performance.
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Current attention 3·Peak within the comparable range 7（2026-11-02 18:00 UTC）·Change within the comparable range over 24 hours -51%
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