arxivcs.RO2026-06-27
You Only Touch Once: 6-DoF Object Pose Estimation from Single Tactile Contact
Pengfei Ye, Yuxiang Ma, Haonan Chen, Guangming Wang, Yixiong Jing, Brian Sheil, et al.
Accurate 6-DoF object pose estimation is fundamental to robotic manipulation, yet vision-based methods often fail under occlusion, poor lighting, and reflective or transparent surfaces. We present YOTO, a tactile-only pose estimation system that recovers the full 6-DoF object pos…