LATIDIA · Robótica

Aprendizaje de robots guiado por el tacto: del aprendizaje de la representación a los modelos básicos

arXiv:2610.20134v1 Tipo de anuncio: nuevo Resumen: La detección táctil se está volviendo fundamental para la manipulación robótica robusta, adaptativa y diestro. Más allá de su papel tradicional en la detección de contactos y el control reactivo, el tacto es

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arXiv:2610.20134v1 Announce Type: new Abstract: Tactile sensing is becoming central to robust, adaptive, and dexterous robotic manipulation. Beyond its traditional role in contact detection and reactive control, touch is increasingly used to learn transferable representations, condition manipulation policies, and support embodied physical reasoning. Yet existing surveys largely emphasize tactile hardware and perception, leaving the rapid shift toward learning-based tactile manipulation insufficiently synthesized. This paper reviews tactile-guided skill learning from a learning-centric perspective, organized by the functional role of touch across the learning and control pipeline. We examine tactile representation and policy learning, tactile foundation models, predictive and adaptive control, and generalization across objects, tasks, sensors, embodiments, and simulation-to-real transfer. Across