# 推之前先轻推：通过触觉探测实现物理感知导航

> 原文链接：https://robotics.hellobike.com/papers/2026-10-04-2610-04924
> 频道：papers | 更新日期：2026-10-04 | 标签：arxiv, cs.RO
> 核心摘要：TANav通过短促触碰估计推阻，在站点边界下决定是否推开容器，并在仿真和四足机械臂上验证。

# 推之前先轻推：通过触觉探测实现物理感知导航

::: v-pre
> 原文链接：[Nudge Before You Push: Physics-Aware Navigation via Tactile Probing](https://arxiv.org/abs/2610.04924)（arXiv 2610.04924 · 发布日期：2026-10-04）

**Nudge Before You Push: Physics-Aware Navigation via Tactile Probing**

TANav通过短促触碰估计推阻，在站点边界下决定是否推开容器，并在仿真和四足机械臂上验证。

## 核心要点

- 外观相同的容器可能载荷不同，导航中需按站点边界选择处理方式。
- TANav短暂轻推测量推阻，TacPhys用力序列及可选RGB-D、运动学估计质量。
- 仿真中TacPhys接近仅阻力Bayes参考，较峰值阈值将漏推从28.7%降至5.5%。
- 四足机械臂上离线零样本MAE为0.28-1.07 kg，在线未见盒子20次判对15次。

**验证范围与局限**：验证范围包括仿真、重复巡逻仿真，以及一台带Hall-array指尖的四足机械臂离线和在线实验。

## 英文摘要 (Abstract)

Visually identical containers can conceal loads that require different handling decisions. We present TANav, which uses a brief nudge to measure push resistance for navigation under a site-defined handling boundary. TacPhys reads the force sequence, with optional RGB-D and kinematics, into a mass estimate for push authorization. A repeated-patrol planner weighs probe and route costs, requests a second contact when useful, and reuses observations across visits. In simulation, TacPhys approaches a resistance-only Bayes reference and reduces missed pushes from 28.7% to 5.5% relative to peak-force thresholding at comparable low-risk operating points. In repeated-patrol simulation, TANav recovers 90% of the oracle's path saving, more than halves human interventions relative to always-detour, and reduces boundary violations from 4.3% to 2.9% relative to RGB-D-only probing. On a quadruped manipulator with a Hall-array fingertip, offline zero-shot MAE is 0.28-1.07 kg on containers up to 2.82 kg. Force-rise calibration at 3 kg gives 93.5% pooled offline accuracy (86.4% on non-cube episodes); a separate raw-peak rule gives 15 of 20 correct online decisions on unseen boxes.

作者：Xianyao Li, Fang Xu, Ruitong Tian, Bowen Sun, Xiao Hu, Yang Ye, Jing Du
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## 原始参考来源 (Sources)

- [arXiv 2610.04924：Nudge Before You Push: Physics-Aware Navigation via Tactile Probing](https://arxiv.org/abs/2610.04924)