TAPNAV: Humanoid Navigation through Tactile Active Perception

arXiv:2610.10748 · cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Terminology

• Information Gain — 12× in this paper · explained in 2 episodes
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Active Perception — 4× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Ablation study — 3× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Center of Mass (CoM) — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Fisher Information — 1× in this paper · explained in 3 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Two-stage training — 1× in this paper · explained in 2 episodes

Sources

• SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning
• SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Humanoid Loco-Manipulation
• Proximal Policy Optimization Algorithms

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