arxivcs.ROcs.AI2026-07-10
TACTIC: Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulation
Rishabh Madan, Angchen Xie, Samantha Saak, Andres Blanco, Dohyeok Lee, Sarah Grace Brown, et al.
Whole-arm manipulation involves direct contact with the environment while the robot completes a task by distributing contact across multiple links as contacts form, slide, and break. This setting breaks common implicit assumptions in many learning-based manipulation pipelines: ar…