Tactile Memory with Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist

arXiv:2601.19275 · cs.RO, cs.AI, cs.LG · Submitted 2026-01-27 · Read on arXiv

cs.RO, cs.AI, cs.LG

Submitted: 2026-01-27

Updated: 2026-09-09

Comments: Accepted for publication in IEEE Robotics and Automation Letters (RA-L), 2026. Project page: https://omron-sinicx.github.io/tameso/

Journal ref: IEEE Robotics and Automation Letters, vol. 11, no. 7, pp. 7844-7851, July 2026

DOI: 10.1109/LRA.2026.3692097

Project page: https://omron-sinicx.github.io/tameso

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Transformer — 39× in this paper · explained in 2 episodes
• Embeddings — 14× in this paper · explained in 2 episodes
• Adaptation — 7× in this paper · explained in 1 episode
• Robustness — 7× in this paper · explained in 5 episodes
• Representation Learning — 6× in this paper · explained in 2 episodes
• Core — 5× in this paper · explained in 2 episodes
• Alignment — 4× in this paper · explained in 1 episode
• Generalization — 3× in this paper · explained in 13 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Adaptability — 2× in this paper · explained in 1 episode
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Partially observable Markov decision process (POMDP) — 1× in this paper · explained in 2 episodes
• Temporal Correlations — 1× in this paper · explained in 2 episodes
• Vision Transformer (ViT) — 1× in this paper · explained in 2 episodes
• Visuo-Tactile Transformer — 1× in this paper

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