Topic

Tactile & force sensing

Touch as a first-class modality: skins, current sensing, and contact-rich feedback loops.

78papers in 2026-07

6.69%of all cs.RO that month

+2.2ppshare change, last 6 vs prior 12 months

24-month volume

arXiv query: cat:cs.RO AND (abs:"tactile" OR abs:"contact-rich")

Presented at reading clubs

These already have a slide kit, so they are the fastest ones to pick up and present.

2026-03-24

VTAM: Video-Tactile-Action Models for Complex Physical Interaction Beyond VLAs

Haoran Yuan, Weigang Yi, Zhenyu Zhang +9 · 12 citations

clubWorld models Tactile & force sensing

2026-02-06

DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos

Shenyuan Gao, William Liang, Kaiyuan Zheng +27 · 96 citations

clubWorld models Dexterous manipulation

2025-05-24

ManiFeel: Benchmarking and Understanding Visuotactile Manipulation Policy Learning

Quan Khanh Luu, Pokuang Zhou, Zhengtong Xu +3 · 21 citations

clubTactile & force sensing Simulation, sim-to-real & benchmarks

2021-12-13

Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer

Yunhai Han, Kelin Yu, Rahul Batra +6 · 105 citations

clubDexterous manipulation Tactile & force sensing

Recent work

2026-08-27

FLARE: A Failure-Aware Framework for Autonomous Correction and Recovery in Visual-Language Robotic Manipulation

Ganlong Zhao, Zijia Tang, Xingping Chen +3

CVPR 2026Vision-language-action Dexterous manipulation

2026-08-26

VISTA: Visually Inferred Spatial ConTact Attention for Contact-Rich Manipulation

Jiayi Chen, Wenlong Dong, Yan Huang +5

Dexterous manipulation Tactile & force sensing

2026-08-26

TacForcing: Streaming Action Generation with Execution-Time Tactile Feedback

Jianbo Zhou, Boyuan Zhao, Yuzheng Zhang +8

Vision-language-action Tactile & force sensing

2026-08-26

PRISM: Projection-Integrated Sampling-Based MPC with Bayesian Cost Tuning for Bimanual Manipulation

Alinjar Dan, Iryna Hurova, Karl Kruusamäe +1

World models Tactile & force sensing

2026-08-26

Leveraging Inter-object Affordances for Efficient Planning in Contact-rich Tasks

Pouya P. Niaz, Justus Piater, Alejandro Agostini

Dexterous manipulation Tactile & force sensing

2026-08-26

A Tendon-Driven Five-Fingered Hand with Distributed Tactile Perception for Dexterous Manipulation

Huayang Chen, Longhui Qin

Dexterous manipulation Tactile & force sensing

2026-08-25

One-Shot Learning from Demonstration of Contact-Rich Robotic Manipulation by Identifying Physical Interactions

A. H. G. Overbeek, H. van der Kooij, M. Vlutters

Tactile & force sensing Safety & evaluation

2026-08-25

A Durable Vision-Based Tactile Fingertip for Robotic Manipulation

F. Richard Cottrell, Megha H. Tippur, Edward H. Adelson

Tactile & force sensing

2026-08-25

Robust Slip Detection and Material Classification via Spatiotemporal Transformers on a Uniformly-Illuminated Visuo-Tactile Sensor

Ziyang Ma, Yuhao Sun, Zichen Ai +2

IROS 2026Tactile & force sensing Data collection & teleoperation

2026-08-25

Sensorless damage-safe grasping

Yusei Shuto, Danilo Vasconcellos Vargas

Dexterous manipulation Tactile & force sensing

2026-08-23

DreamMimic: Learning Visuomotor Whole-Body Loco-Manipulation via World Model

Jie Yin, Xingyu Lai

World models Humanoids & locomotion

2026-08-22

Contact-Rich Robotic Manipulation in Construction via Zero-Shot Learning: A Diffusion Policy-Guided Adaptive Control

Roman Ibrahimov, Salma Mozaffari, Arash Adel

Tactile & force sensing Simulation, sim-to-real & benchmarks

2026-08-22

An Interpretable Deep Learning Framework for Material Perception and Classification from Multisensory Tactile Data

Li Zou, Dave Hogendoorn, Yasemin Vardar

Tactile & force sensing

2026-08-22

Vision-Guided Morphing Quadcopter for Multi-Geometry Payload Transport through Narrow Passages

Aashish Sahu, Shriram Hari, R. Prasanth Kumar

Dexterous manipulation Tactile & force sensing

2026-08-22

Vision Guided Target Conditioned Control for Autonomous Excavation

Shuai Zhao, Ji-An Pan, Junwei Li +5

Tactile & force sensing Simulation, sim-to-real & benchmarks

2026-08-21

Force/Torque-Based Kinematic Adaptation for Robotic Manipulation Tasks

Carl Glen Henshaw

Dexterous manipulation Tactile & force sensing

2026-08-21

ViTacPhys: Physical Property-Aware Grasping from Human Visual-Tactile Demonstrations

Yiwen Liu, Yujun Zhu, Kui Jia +3

Dexterous manipulation Egocentric & human data

2026-08-21

VT-MUSE: Multimodal Unified Sequential Visuotactile Representation Learning for Manipulation

Congsheng Xu, Qiaochu Yang, Fangyuan Shi +7

Tactile & force sensing Simulation, sim-to-real & benchmarks

2026-08-21

Beyond Imitation: Self-Improving Robot Policies via Off-Policy Q-Planning

Varun Giridhar, Anant Khandelwal, Jeremy A. Collins +2

Egocentric & human data Tactile & force sensing

2026-08-21

GhostTac: Manipulating Tactile Sensors without Physical Contact

Kun Wang, Xuancun Lu, Ruochen Zhou +6

Dexterous manipulation Tactile & force sensing

2026-08-20

Pneumatic Units for Logic-based Sequential Excitation (PULSE) in Wearable Haptic Devices

Jessica Healey, Anoush Sepehri, Michael T. Tolley +1

Tactile & force sensing Hardware & morphology co-design

2026-08-20

Wave-Based Bilateral Teleoperation between Nonlinear Manipulators with Direct Contact Force Feedback

G. Q. Bao Tran, Takanori Miyoshi, Ho Duc Tho

Tactile & force sensing Data collection & teleoperation

2026-08-20

HiTac-WAM: A Hierarchical Tactile World Action Model for Contact-Rich Robot Manipulation

Chao Xue, Chaofan Zhang, Wenxuan Ma +3

Dexterous manipulation Tactile & force sensing

2026-08-19

Hybrid Feedback Sampling for Sample-Efficient Model Predictive Control

Chaoyi Pan, Zeji Yi, John Zhang +3

Dexterous manipulation Humanoids & locomotion

2026-08-19

The Missing Touch: Spatially Distributed Tactile Feedback Brings Teleoperation Closer to Human Dexterity

Rohan Kota, Gregory Reardon, J. Edward Colgate

Dexterous manipulation Tactile & force sensing

2026-08-19

ADEPT: Accelerating Dexterity via Pre-Training and Post-Training using Reinforcement Learning

Jayjun Lee, Jessica Yin, Asif Rana +7

Dexterous manipulation Tactile & force sensing

2026-08-19

SoftVTBench: A Deformation-Aware Visuo-Tactile Dataset and Benchmark for Deformable-Object Manipulation

Bowen Jing, Mingxin Wang, Ruiyang Hao +15

Tactile & force sensing Imitation & diffusion policies

2026-08-18

Zero-Shot Transfer of Force Map Estimation Across GelSight Mini Sensors

Julio Castaño Amoros, Pablo Gil

IEEE Sensors LettersTactile & force sensing Data collection & teleoperation

2026-08-18

PRISM: Precision and contact-rich Real-world Industrial Skill dataset with Multimodal sensing

Tengbo Yu, Jiahao Wu, Hanning Wang +4

Tactile & force sensing

2026-08-18

Iterative Grasp Pose Refinement: A Deep Reinforcement Learning Approach for 2D Vision

Amir Arsalan Nematollahi, Shayan Ahmadi, Mehdi Tale Masouleh +1

Dexterous manipulation Tactile & force sensing

2026-08-18

Physics-Informed Sliding-Window Particle Filtering for Tactile-Only In-Hand 6-DoF Object Pose Refinement

Lingjun Shao, Ying Zhang, Xiangfei Li +4

Dexterous manipulation Tactile & force sensing

2026-08-18

MANIGUARD: A Benchmark and Data Suite for Specification-Grounded Safety Evaluation and Improvement of Robotic Manipulation

Yiyan Peng, Philip Wang, Simon Sinong Zhan +11

Tactile & force sensing Data collection & teleoperation

2026-08-17

Don't Drop the BATON: Long-Horizon Robot Manipulation via Agentic Subtask Exploration and Transition-aware Memory

Bingxin Xu, Yuzhang Shang, Emilio Ferrara

Vision-language-action Tactile & force sensing

2026-08-17

H-PAC Hand: Control-Oriented Modeling and Tendon-Elasticity Compensation for an Underactuated Robotic Hand

Teng Yan, Jiongxu Chen, Teng Wang +5

Dexterous manipulation Tactile & force sensing

2026-08-17

ViHaTeleop: A Low-Cost, Lightweight Visual-Haptic Teleoperation System for Dexterous Manipulation Learning

Fucai Zhu, Yanhou Lai, Paul Maestre +1

IROS 2026Dexterous manipulation Tactile & force sensing

2026-08-17

RoboStriker: Latent-Space Strategic Games for Autonomous Humanoid Boxing

Kangning Yin, Kaige Liu, Zhe Cao +9

Humanoids & locomotion Tactile & force sensing

2026-08-16

Tactile Sim2Real without Tactile Simulation via Bottlenecked Latent Reconstruction

Fan Yang, Youngsun Wi, Jinhao Yu +2

Tactile & force sensing Simulation, sim-to-real & benchmarks

2026-08-16

ViTaR: Visuo-Tactile Residual Adaptation for Foundation VLA Manipulation

Yi Wang, Renjun Wu, Jinyan Liu +1

Vision-language-action Tactile & force sensing

2026-08-16

Tac4Loco: Learning Spatiotemporal Plantar Pressure Representations for Humanoid Locomotion

Ziyun Liu, Sikai Guo, Zheng Li +6

Humanoids & locomotion Tactile & force sensing

2026-08-16

ReForce: Learning Force-aware Retargeting for Dexterous Manipulation

Yuhang Wu, Lingqi Zeng, Changwei Jing +2

Dexterous manipulation Egocentric & human data

262 papers in this corpus carry the tactile & force sensing tag. How tagging works.