mlsanityData to 14 Oct 2026

The Role of Touch: Towards Optimal Tactile Sensing Distribution in Anthropomorphic Hands for Dexterous In-Hand Manipulation

arXiv 2509.14984 ↗First posted 18 Sep 2025cs.RO cs.AI cs.LGcited by 0

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Abstract (arXiv)

In-hand manipulation tasks, particularly in human-inspired robotic systems, must rely on distributed tactile sensing to achieve precise control across a wide variety of tasks. However, the optimal configuration of this network of sensors is a complex problem, and while the fingertips are a common choice for placing sensors, the contribution of tactile information from other regions of the hand is often overlooked. This work investigates the impact of tactile feedback from various regions of the fingers and palm in performing in-hand object reorientation tasks. We analyze how sensory feedback from different parts of the hand influences the robustness of deep reinforcement learning control policies and investigate the relationship between object characteristics and optimal sensor placement. We identify which tactile sensing configurations contribute to improving the efficiency and accuracy of manipulation. Our results provide valuable insights for the design and use of anthropomorphic end-effectors with enhanced manipulation capabilities.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 23 of its 49 references that are in the map. First posted on arXiv 18 Sep 2025.

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23 of 49 references.

References · 23

  1. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  2. 2019Solving Rubik's Cube with a Robot Handcited by 734
  3. 2017Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrationscited by 715
  4. 2018Learning Dexterous In-Hand Manipulationcited by 687
  5. 2018Multi-Goal Reinforcement Learning: Challenging Robotics Environments and Request for Researchcited by 260
  6. 2023Rotating without Seeing: Towards In-hand Dexterity through Touchcited by 84
  7. 2022Factory: Fast Contact for Robotic Assemblycited by 54
  8. 2021Tactile-RL for Insertion: Generalization to Objects of Unknown Geometrycited by 48
  9. 2020TriFinger: An Open-Source Robot for Learning Dexteritycited by 31
  10. 2024TacSL: A Library for Visuotactile Sensor Simulation and Learningcited by 27
  11. 2024Digitizing Touch with an Artificial Multimodal Fingertipcited by 20
  12. 2018Learning to Grasp Without Seeingcited by 19
11 more
  1. 2022Surprisingly Robust In-Hand Manipulation: An Empirical Studycited by 17
  2. 2024FeelAnyForce: Estimating Contact Force Feedback from Tactile Sensation for Vision-Based Tactile Sensorscited by 11
  3. 2020In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulationcited by 10
  4. 2021Improved Learning of Robot Manipulation Tasks via Tactile Intrinsic Motivationcited by 10
  5. 2022RBO Hand 3 -- A Platform for Soft Dexterous Manipulationcited by 9
  6. 2024Learning a Shape-Conditioned Agent for Purely Tactile In-Hand Manipulation of Various Objectscited by 8
  7. 2024Survey of Learning-based Approaches for Robotic In-Hand Manipulationcited by 7
  8. 2021Improving Grasp Stability with Rotation Measurement from Tactile Sensingcited by 6
  9. 2024Sensorized Soft Skin for Dexterous Robotic Handscited by 4
  10. 2023Force Feedback Control For Dexterous Robotic Hands Using Conditional Postural Synergiescited by 1
  11. 2024Data-Driven Optimization of Tactile Sensor Configurations for Efficient Dexterous Manipulationcited by 1

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  1. 2026Tactile-Guided Robot Learning: From Representation Learning to Foundation Models ↗
  2. 2026The impact of tactile sensor configurations on grasp learning efficiency -- a comparative evaluation in simulation ↗
  3. 2024Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensing
  4. 2026TouchWorld: A Predictive and Reactive Tactile Foundation Model for Dexterous Manipulation
  5. 2026TacO: Benchmarking Tactile Sensors for Object Manipulation
  6. 2025Enhancing Tactile-based Reinforcement Learning for Robotic Control
  7. 2025PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies
  8. 2025Spatially anchored Tactile Awareness for Robust Dexterous Manipulation