NoContactNoWorries: Estimating Contact through Vision and Proprioception for In-Hand Dexterous Manipulation

arXiv:2606.24450v1 Announce Type: new Abstract: Perceiving physical contact is fundamental to dexterous manipulation. While robots often rely on dedicated hardware tactile sensors, humans exhibit a remarkable ability to infer contact by integrating visual information with an innate sense of their body's pose and movement. Inspired by this embodied perceptual skill, we investigate whether a robot can learn to infer contact from vision, an approach that also offers a scalable alternative to tactil...