GraspTune: Tactile-Driven Execution Refinement for Robust Grasping

arXiv:2609.24180 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-21

Terminology

• Adaptation — 11× in this paper · explained in 1 episode
• Ablation — 6× in this paper · explained in 1 episode
• Actor — 6× in this paper · explained in 3 episodes
• Benchmark — 4× in this paper · explained in 2 episodes
• Distillation — 4× in this paper · explained in 2 episodes
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Point Clouds — 4× in this paper · explained in 2 episodes
• Calibration — 2× in this paper · explained in 7 episodes
• Failure Modes — 2× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Steering — 2× in this paper · explained in 2 episodes
• Affordance — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Aperture — 1× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Inference-Time Steering — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Self-Supervised Learning — 1× in this paper · explained in 8 episodes
• Tokenization — 1× in this paper · explained in 2 episodes

Sources

• Proximal Policy Optimization Algorithms
• Control of the Final-Phase of Closed-Loop Visual Grasping using Image-Based Visual Servoing
• D3Grasp: Diverse and Deformable Dexterous Grasping for General Objects
• TacRefineNet: Goal-Conditioned Tactile Grasp Refinement for Edge-Prominent Objects
• TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance
• OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies
• TacCoRL: Integrating Tactile Feedback into VLA via Simulation

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