外观
论文arXiv 2609.240681 个月前
触觉何时重要？描绘杂乱灵巧抓取中的视觉-交互差距
原文链接：When Does Touch Matter? Charting the Vision-Interaction Gap in Cluttered Dexterous Grasping（arXiv 2609.24068 · 发布日期：2026-09-21）
When Does Touch Matter? Charting the Vision-Interaction Gap in Cluttered Dexterous Grasping
在LEAP Hand真实桌面杂乱抓取中，控制比较视觉、wrench与taxel模仿学习扩散策略，验证交互感知的作用。
核心要点
- 遮挡与接触会掩盖抓取质量，需判断触觉测量和外部wrench估计何时优于视觉几何。
- 固定示教、视觉观测、动作空间和柔顺控制，训练仅视觉、wrench、taxel及融合扩散策略。
- 融合策略25次试验成功24次，视觉仅14次；三种受限条件下为15/15对6/15。
- 消融显示wrench与taxel反馈互补，交互反馈支持更早拒绝不良接触、抬升前重抓和更稳定抓取。
验证范围与局限：验证限于一只LEAP Hand在五种真实桌面场景条件下的目标导向杂乱灵巧抓取。
英文摘要 (Abstract)
Dexterous grasping in clutter poses a basic sensing question: when do tactile measurements and external wrench estimates improve on visual geometry? Occlusion and contact can obscure grasp quality, motivating a controlled evaluation of these interaction signals. We present a controlled real-world study over five tabletop scene conditions on a dexterous hand (LEAP Hand) with vision, per-finger and wrist wrench estimates, and distributed fingertip taxels. With demonstrations, visual observations, action space, and compliant control fixed, we compare diffusion policies trained by imitation learning on vision only, wrench, taxels, or all combined, plus representation and fusion baselines. The combined policy succeeds in 24/25 trials versus 14/25 for vision only, and 15/15 versus 6/15 across the three confined conditions. Ablations show that wrench and taxel feedback are complementary. Behavioral comparisons show that interaction feedback enables earlier rejection of inadequate contacts, regrasping before lift, and more stable grasps. To our knowledge, this is the first real-world study to combine and separately evaluate these interaction modalities for target-oriented dexterous grasping in clutter. These results chart a widening vision-interaction gap and position cluttered dexterous grasping as a benchmark for determining when the learned policy needs interaction sensing. Project website: https://interaction-dex-grasp.github.io/
作者：Hao Jiang, Luis Dominguez, Daniel Seita
来源
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