Tactile Memory with Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist
Updated 2 h ago · first seen 11 Sept 2026
paper_01M294GPSK318GSPCM789XWS0N
- Published
- 11 Sept 2026
- T1 · 2 h ago
- arXiv
- 2601.19275
- T1 · 2 h ago
- Category
- cs.RO
- T1 · 2 h ago
Abstract
-cross Abstract: Tactile memory, the ability to store and retrieve touch-based experience, is critical for contact-rich tasks such as key insertion under uncertainty. To replicate this capability, we introduce Tactile Memory with Soft Robot (TaMeSo-bot), a system that integrates a soft wrist with tactile retrieval-based control to enable safe and robust manipulation. The soft wrist allows safe contact exploration during data collection, while tactile memory reuses past demonstrations via retrieval for flexible adaptation to unseen scenarios. The core of this system is the Masked Tactile Trajectory Transformer (MAT$^\text{3}$), which jointly models spatiotemporal interactions between robot actions, distributed tactile cues, force-torque measurements, and proprioceptive signals. Through masked token prediction, MAT$^\text{3}$ learns rich spatiotemporal representations by inferring missing sensory information from context, autonomously extracting task-relevant features without explicit subtask segmentation. We validate our approach on peg-in-hole tasks with diverse pegs and conditions in real-robot experiments. Our extensive evaluation demonstrates that MAT$^\text{3}$ achieves higher success rates than the baselines over all conditions and shows remarkable capability to adapt to unseen pegs and conditions.
Authors 6
Tatsuya Kamijo, Mai Nishimura, Nodoka Shibasaki, Jeremy Siburian, Cristian C. Beltran-Hernandez, Masashi Hamaya
Specification
- Official page
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
- Arxiv announce type
- replace
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
- arXiv id
- 2601.19275
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
- Categories
- cs.RO, cs.AI, cs.LG
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
- DOI
- 10.1109/LRA.2026.3692097
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
- Primary category
- cs.RO
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
- Published
- 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
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Attributed facts
10
Source tiers
T110
Freshest observation
2 h ago
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None
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- Authors
- Tatsuya Kamijo, Mai Nishimura, Nodoka Shibasaki
As of
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- New paperPaperTactile Memory with Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist
New paper: Tactile Memory with Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist
arxiv
| Source | Document | Type | Tier | Last observed | Snapshots |
|---|---|---|---|---|---|
| arXiv (Atom API + RSS) | rss.arxiv.org/rss/cs.AI | feed | T1· Official | 2 h ago | 1 |
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