analiza aiqbench
The paper benchmarks tactile sensors by training learned manipulation policies on four sensing modalities (visual, acoustic, magnetic, resistive) across three tasks. Its key finding is that tactile input helps unevenly, depending on sensor modality, material properties, and task, rather than universally. For ML readers, the useful takeaway is that policy-level evaluation can guide sensor selection for robot learning, though the results are tied to specific tasks and hardware.
TacO: Benchmarking Tactile Sensors for Object Manipulation
arXiv:2605.21976v2 Announce Type: replace Abstract: Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is broad agreement that tactile sensing improves manipulation, there is no empirical guidance on which tactile sensors are best suited for which manipulation tasks. In this paper, we provide a systematic, task-driven evaluation of tactile sensors for robot manipulation and propose a framework for selecting and evaluating sensors based on manipulation policy performance. Separate manipulation policies are trained for tactile sensors of four distinct modalities: visual, acoustic, magnetic, and resistive, across three tasks: pick-and-place with unknown mass, object reorientation, and plug insertion. For each task, we analyze how sensor properties, including spatial resolution, shear sensing, tactile representation, and inherent material friction, affect task performance. Rather than tactile sensing being universally beneficial in the same way, our results show that the usefulness of tactile information depends strongly on sensor modality, material properties, and the specific manipulation tasks. The tactile sensors, code, data, and hardware setup will be publicly available on the project website.
Authors:Anya Zorin, Zilin Si, Sachin Bhadang, Myungsun Park, Junsung Park, Alexiy Buynitsky, Taejun Park, Sohee John Yoon, Yong-Lae Park, Oliver Kroemer, Zeynep Temel, Michael T. Tolley, Sha Yi, Xiaolong Wang
Abstract:Vision-based learning from demonstrations has achieved remarkable success in enabling robots to perform manipulation tasks and high-level semantic reasoning, yet it remains insufficient for complex, contact-rich manipulation. While there is broad agreement that tactile sensing improves manipulation, there is no empirical guidance on which tactile sensors are best suited for which manipulation tasks. In this paper, we provide a systematic, task-driven evaluation of tactile sensors for robot manipulation and propose a framework for selecting and evaluating sensors based on manipulation policy performance. Separate manipulation policies are trained for tactile sensors of four distinct modalities: visual, acoustic, magnetic, and resistive, across three tasks: pick-and-place with unknown mass, object reorientation, and plug insertion. For each task, we analyze how sensor properties, including spatial resolution, shear sensing, tactile representation, and inherent material friction, affect task performance. Rather than tactile sensing being universally beneficial in the same way, our results show that the usefulness of tactile information depends strongly on sensor modality, material properties, and the specific manipulation tasks. The tactile sensors, code, data, and hardware setup will be publicly available on the project website.
Robotics (cs.RO)
arXiv:2605.21976 [cs.RO]
(or arXiv:2605.21976v2 [cs.RO] for this version)
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