Ep#89: Contact Grounded Policy

Podcast: RoboPapers · Chris Paxton and Michael Cho

Opublikowano: 2026-07-08

Contact-rich manipulation is still very challenging for robotics. Problems like opening a jar, or in-hand reorientation of an object, require making repeated contact with different parts of a robot’s hand, and this is hard to do with pure vision. Instead, research is moving towards using tactile sensors in combination with visual policies. But what’s the best way to learn how to handle multi-point contact? Zhengtong Xu and Yeping Wang tell us about their new work Contact-Grounded Policy (CGP). CGP predicts future robot state and tactile feedback, and predicts this into actions for a compliant robot cont...