SlipSense: Multimodal Tactile Learning for Low-Latency and Generalized Slip Detection

arXiv:2609.15910 · cs.RO, cs.AI, cs.LG · Submitted 2026-09-14 · Read on arXiv

cs.RO, cs.AI, cs.LG

Submitted: 2026-09-14

Updated: 2026-09-14

Comments: Accepted to CoRL 2026

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

Terminology

• Generalization — 15× in this paper · explained in 13 episodes
• Ablation — 8× in this paper · explained in 1 episode
• Multimodal Fusion — 7× in this paper · explained in 3 episodes
• Embeddings — 6× in this paper · explained in 2 episodes
• Failure Modes — 6× in this paper · explained in 3 episodes
• Transformer — 5× in this paper · explained in 2 episodes
• Accuracy — 4× in this paper · explained in 1 episode
• Late Fusion — 3× in this paper · explained in 2 episodes
• 1D CNN — 2× in this paper · explained in 2 episodes
• Calibration — 2× in this paper · explained in 7 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Generalizability — 2× in this paper · explained in 6 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Multimodal Learning — 2× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 2× in this paper · explained in 4 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Accelerometer Data — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Distribution Shift — 1× in this paper · explained in 6 episodes
• False Positive Rate — 1× in this paper
• Fidelity — 1× in this paper · explained in 2 episodes
• Frequency-Domain Analysis — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• IEEE Micro Electro Mechanical Systems — 1× in this paper
• Information Leakage — 1× in this paper · explained in 2 episodes
• Quadratic Discriminant Analysis — 1× in this paper
• Regularization — 1× in this paper · explained in 3 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Zero-Shot Generalization — 1× in this paper · explained in 5 episodes

Sources

• Maintaining Grasps within Slipping Bound by Monitoring Incipient Slip
• A multi-modal tactile fingertip design for robotic hands to enhance dexterous manipulation
• Reactive Slip Control in Multifingered Grasping: Hybrid Tactile Sensing and Internal-Force Optimization
• A-SLIP: Acoustic Sensing for Continuous In-hand Slip Estimation

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