You Only Touch Once: 6-DoF Object Pose Estimation from Single Tactile Contact

arXiv:2606.28899v1 Announce Type: new Abstract: Accurate 6-DoF object pose estimation is fundamental to robotic manipulation, yet vision-based methods often fail under occlusion, poor lighting, and reflective or transparent surfaces. We present YOTO, a tactile-only pose estimation system that recovers the full 6-DoF object pose from a single pair of simultaneous contacts, without requiring contact history. YOTO represents each tactile contact as a local 3D point cloud and localizes it on the obj...