XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation

Abstract:Collecting high-quality robot data for contact-rich manipulation tasks is essential for enabling robots to acquire real-world skills. However, existing data collection solutions often lack the capability to obtain stable and high-frequency tactile feedback, limiting their effectiveness in contact-rich manipulation scenarios. In this work, we propose a versatile teleoperation system with tactile-driven assistance to enable high-frequency and stable contact-rich manipulation. The proposed XRoboToolKit-T teleoperation system incorporates a tactile-informed force control architecture, designed to ensure both stable and precise force control in contact-rich manipulation during teleoperation. The stabilizer haptic module rapidly analyzes the normal force distribution and infers pseudo shear force, enabling real-time tactile-based assistance during manipulation. The refiner haptic module integrates a vision-language-action model to predict and refine manipulation actions based on tactile sensing data and task descriptions. We apply the proposed teleoperation system to challenging contact-rich manipulation tasks, including grasping a deformable rubber pipette for liquid transfer and inserting a medical syringe into a vascular training pad, to demonstrate the effectiveness of tactile-informed force control. Furthermore, the system achieves higher data collection efficiency and improved manipulation stability compared to state-of-the-art teleoperation without tactile assistance.

Robotics (cs.RO); Human-Computer Interaction (cs.HC)

arXiv:2609.16437 [cs.RO]

(or arXiv:2609.16437v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.16437 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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