TacGooseBumps (TacGB): Retrofitting Normal-Only Tactile Sensors with Shear Encoding for Learning Contact-Rich Manipulation

arXiv:2609.34006 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-30

Project page: https://jeffwli.github.io/tacgb

Terminology

• Alignment — 9× in this paper · explained in 1 episode
• Calibration — 5× in this paper · explained in 7 episodes
• Failure Modes — 3× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• State Aliasing — 2× in this paper · explained in 2 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Distribution Shift — 1× in this paper · explained in 5 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes

Sources

• What Enables In-Context Behavior Prompting for Manipulation?
• TactX: Learning Shared Tactile Representations Across Diverse Sensors
• FlexiTac: A Low-Cost, Open-Source, Scalable Tactile Sensing Solution for Robotic Systems

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