Preprint Open access
When Does Touch Matter? Charting the Vision-Interaction Gap in Cluttered Dexterous Grasping
Dexterous grasping in clutter poses a basic sensing question: when do tactile measurements and external wrench estimates improve on visual geometry? Occlusion and contact can obscure grasp quality, motivating a controlled evaluation of these interaction signals. We present a controlled real-world study over five tablet …