Zhongyuan Liao

“TacSE3 uses fingertip tactile sensors to detect and measure exactly how the object is moving inside the grip, then feeds that signal back to correct the robot's actions in real-time, without retraining the underlying policy.”

“the method performs well on smooth and weak-texture objects such as the large sphere (2.9°), ellipsoidal object (3.6°), cylindrical object (2.8°), and wooden cube (3.2°), indicating that accurate rotation estimation does not depend on distinctive tactile texture.”