# Tactile-Informed Action Primitives Mitigate Jamming in Dense Clutter

arXiv: https://arxiv.org/abs/2402.09564 · HTML: https://mlsanity.com/paper/2402.09564/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Feb 2024.

## Built on by (most cited first, 1 of 1)

- [Gentle Object Retraction in Dense Clutter Using Multimodal Force Sensing and Imitation Learning](https://mlsanity.com/paper/2508.19476/) (2025)

## Abstract (arXiv)

It is difficult for robots to retrieve objects in densely cluttered lateral access scenes with movable objects as jamming against adjacent objects and walls can inhibit progress. We propose the use of two action primitives -- burrowing and excavating -- that can fluidize the scene to un-jam obstacles and enable continued progress. Even when these primitives are implemented in an open loop manner at clock-driven intervals, we observe a decrease in the final distance to the target location. Furthermore, we combine the primitives into a closed loop hybrid control strategy using tactile and proprioceptive information to leverage the advantages of both primitives without being overly disruptive. In doing so, we achieve a 10-fold increase in success rate above the baseline control strategy and significantly improve completion times as compared to the primitives alone or a naive combination of them.