Samantha Saak

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…Read more