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XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation — arXiv:2609.16437

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.16437
License (as archived): CC0-1.0
Archived: 2026-10-15T21:30:23.427Z
SHA-256 of the archived text: f00a7ea91eba16a756fd02c09aa528e30c8ed2127824490bb23aca3884185390
Stable URL of this page: https://metraipolis.com/documento/dc_0484fa20b2fe

How to cite

XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation — arXiv:2609.16437 — arXiv (en), https://arxiv.org/abs/2609.16437 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_0484fa20b2fe (Metraipolis archive dc_0484fa20b2fe, sha256 f00a7ea91eba16a756fd02c09aa528e30c8ed2127824490bb23aca3884185390)

BibTeX

@misc{dc0484fa20b2fe,
  title = {XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation — arXiv:2609.16437},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.16437},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_0484fa20b2fe; sha256 f00a7ea91eba16a756fd02c09aa528e30c8ed2127824490bb23aca3884185390},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.16437. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Collecting high-quality robot data for contact-rich manipulation tasks is essential for enabling robots to acquire real-world skills. However, existing data collection solutions often lack the capability to obtain stable and high-frequency tactile feedback, limiting their effectiveness in contact-rich manipulation scenarios. In this work, we propose a versatile teleoperation system with tactile-driven assistance to enable high-frequency and stable contact-rich manipulation. The proposed XRoboToolKit-T teleoperation system incorporates a tactile-informed force control architecture, designed to ensure both stable and precise force control in contact-rich manipulation during teleoperation. The stabilizer haptic module rapidly analyzes the normal force distribution and infers pseudo shear force, enabling real-time tactile-based assistance during manipulation. The refiner haptic module integrates a vision-language-action model to predict and refine manipulation actions based on tactile sensing data and task descriptions. We apply the proposed teleoperation system to challenging contact-rich manipulation tasks, including grasping a deformable rubber pipette for liquid transfer and inserting a medical syringe into a vascular training pad, to demonstrate the effectiveness of tactile-informed force control. Furthermore, the system achieves higher data collection efficiency and improved manipulation stability compared to state-of-the-art teleoperation without tactile assistance.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-16 in cs.RO).
Categorie arXiv: Robotics (cs.RO) ; Human-Computer Interaction (cs.HC).
Pagina del lavoro: https://arxiv.org/abs/2609.16437 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-15T21:30:17.317Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-16?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).