VibeAct: Vibration to Actions for Contact-Rich Reactive Robot Dexterity

arXiv:2606.27344 · cs.RO · Submitted 2026-06-25 · Read on arXiv

cs.RO

Submitted: 2026-06-25

Updated: 2026-09-22

Terminology

• Reinforcement Learning — 7× in this paper · explained in 4 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Alignment — 5× in this paper · explained in 1 episode
• IEEE International Conference on Robotics and Automation — 4× in this paper
• Action Space — 3× in this paper · explained in 1 episode
• Actor — 3× in this paper · explained in 3 episodes
• Embeddings — 3× in this paper · explained in 2 episodes
• Point Clouds — 3× in this paper · explained in 2 episodes
• Adam — 2× in this paper · explained in 2 episodes
• Decoupling — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Online Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Reward Function — 1× in this paper · explained in 2 episodes

Sources

• A-SLIP: Acoustic Sensing for Continuous In-hand Slip Estimation
• Proximal Policy Optimization Algorithms
• Learning Versatile Humanoid Manipulation with Touch Dreaming
• ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface
• LightTact: A Visual-Tactile Fingertip Sensor for Deformation-Independent Contact Sensing
• AnySkin: Plug-and-play Skin Sensing for Robotic Touch
• DexSkin: High-Coverage Conformable Robotic Skin for Learning Contact-Rich Manipulation
• Sound of Touch: Active Acoustic Tactile Sensing via String Vibrations
• Swoosh! Rattle! Thump! -- Actions that Sound
• Play it by Ear: Learning Skills amidst Occlusion through Audio-Visual Imitation Learning
• ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data
• Decoupled Weight Decay Regularization
• Adam: A Method for Stochastic Optimization
• High-Dimensional Continuous Control Using Generalized Advantage Estimation

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