# Analysing the Interplay of Vision and Touch for Dexterous Insertion Tasks

arXiv: https://arxiv.org/abs/2410.23860 · HTML: https://mlsanity.com/paper/2410.23860/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 31 Oct 2024.

## Built on by (most cited first, 3 of 3)

- [On the Importance of Tactile Sensing for Imitation Learning: A Case Study on Robotic Match Lighting](https://mlsanity.com/paper/2504.13618/) (2025)
- [SToLa: Self-Adaptive Touch-Language Framework with Tactile Commonsense Reasoning in Open-Ended Scenarios](https://mlsanity.com/paper/2505.04201/) (2025)
- [Symmetry-Aware Fusion of Vision and Tactile Sensing via Bilateral Force Priors for Robotic Manipulation](https://mlsanity.com/paper/2602.13689/) (2026)

## Abstract (arXiv)

Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively integrating these modalities in robotic systems is still an open problem. Our work presents an extensive analysis of the interplay between visual and tactile feedback during dexterous insertion tasks, showing that tactile sensing can greatly enhance success rates on challenging insertions with tight tolerances and varied hole orientations that vision alone cannot solve. These findings provide valuable insights for designing more effective multi-modal robotic control systems and highlight the critical role of tactile feedback in contact-rich manipulation tasks.