mlsanityData to 14 Oct 2026

Tactile Estimation of Extrinsic Contact Patch for Stable Placement

arXiv 2309.14552 ↗First posted 25 Sep 2023cs.RO cs.AI cs.LGcited by 1

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Abstract (arXiv)

Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other (see Fig.1). To design such a system, a robot should be able to reason about the stability of placement from very gentle contact interactions. Our results demonstrate that it is possible to infer the stability of object placement based on tactile readings during contact formation between the object and its environment. In particular, we estimate the contact patch between a grasped object and its environment using force and tactile observations to estimate the stability of the object during a contact formation. The contact patch could be used to estimate the stability of the object upon release of the grasp. The proposed method is demonstrated in various pairs of objects that are used in a very popular board game.

Key facts. Cited by 1 paper in the map (data through 14 Oct 2026). Builds on 11 of its 20 references that are in the map. First posted on arXiv 25 Sep 2023.

Builds on

11 of 20 references.

References · 11

  1. 2018Learning by Playing - Solving Sparse Reward Tasks from Scratchcited by 167
  2. 2018Reinforcement and Imitation Learning for Diverse Visuomotor Skillscited by 126
  3. 2021Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapescited by 71
  4. 2019Self-Supervised Sim-to-Real Adaptation for Visual Robotic Manipulationcited by 19
  5. 2021Active Extrinsic Contact Sensing: Application to General Peg-in-Hole Insertioncited by 19
  6. 2021Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurementscited by 13
  7. 2022Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensingcited by 13
  8. 2021Active Learning of Abstract Plan Feasibilitycited by 11
  9. 2019Adaptive Curriculum Generation from Demonstrations for Sim-to-Real Visuomotor Controlcited by 8
  10. 2023Simultaneous Tactile Estimation and Control of Extrinsic Contactcited by 6
  11. 2023Tactile-Filter: Interactive Tactile Perception for Part Matingcited by 4

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 1.

1 paper.

  1. 2026UNIC: Learning Unified Multimodal Extrinsic Contact Estimationcited by 0