TACTFUL: Tactile-Driven Exploration For Object Localization and Identification in Confined Environments

arXiv:2606.24712v1 Announce Type: new Abstract: Humans effortlessly locate and identify objects by touch alone, even without vision. In contrast, robotic systems rely heavily on vision and struggle with autonomous tactile exploration and object identification. We present TACTFUL, a vision-free tactile exploration framework that enables a multi-fingered robot to autonomously explore confined workspaces, discover objects through contact, and identify them via tactile reconstruction. Trained entire...