Preprint Open access
TacGooseBumps (TacGB): Retrofitting Normal-Only Tactile Sensors with Shear Encoding for Learning Contact-Rich Manipulation
Contact-rich policies often fail because distinct physical states look alike yet require different actions. Cameras may not reveal whether a connector is aligned or fully seated, while many normal-only tactile sensors can miss the tangential interactions perpendicular to the grasping direction that distinguish these st …