Preprint
Aug 2026
ReTouch: Empowering Contact-Rich Dexterous Manipulation with Online-Refined Tactile Prediction
Fusing tactile signals has proven effective for contact-rich manipulation, enabling robots to perceive contact states and adapt to rapidly changing physical interactions. Yet effectively integrating tactile feedback into dexterous manipulation remains underexplored. In this work, we introduce ReTouch, a vision-language...
Shiqi Zhang, Xin Zhang, Yedong Shen et al.
· 1 citation