外观
论文arXiv 2609.246211 个月前
从高带宽单点传感中学习触觉感知
原文链接：Learning tactile perception from high-bandwidth single-point sensing（arXiv 2609.24621 · 发布日期：2026-09-21）
Learning tactile perception from high-bandwidth single-point sensing
SpectRobot将单点触觉信号转为时频谱图并接入视觉学习管线，在机器人遮挡操控及多类触觉技术上验证。
核心要点
- 现有学习式机器人操控多依赖空间分布式触觉传感。
- SpectRobot用固定尺寸时频谱图编码高带宽单点触觉历史。
- 谱图可由标准视觉编码器处理，保留相机没有的时频信息。
- 实验显示其可用于视觉遮挡操控，并跨加速度、力、应变传感技术。
验证范围与局限：验证范围包括一项视觉遮挡的机器人操控任务，以及由加速度、力或应变介导的不同触觉传感技术。
英文摘要 (Abstract)
Tactile sensing is increasingly being incorporated into learning-based robotic manipulation, yet many existing approaches rely on spatially distributed sensors. Here we introduce {SpectRobot}, a framework that transforms single-point tactile signals into compact time-frequency spectrograms. These spectrograms encode high-bandwidth tactile histories as fixed-size image-like representations. They can be processed by standard vision encoders and integrated into learning pipelines originally developed for vision, while preserving temporal and frequency information unavailable to conventional cameras. Rather than increasing spatial density through arrays of tactile elements, SpectRobot exploits the rich dynamics contained in sparse, high-bandwidth single-point measurements. In our implementation, the sensors are mounted away from the contact surface while remaining mechanically coupled to it, reducing direct exposure to wear and potentially improving robustness in harsh environments and for long-term deployment on dexterous robots. Our experiments demonstrate that: (1) a robot can exploit single-point vibration signals to solve a visually occluded manipulation task; (2) temporal history strongly influences policy performance, while sensing bandwidth controls the spectral information available, with measurements extending to 100~kHz; and (3) the same representation can be used across different tactile sensing technologies mediated by acceleration, force, or strain. We further show that capabilities previously associated with research-grade instrumentation can be accessed using readily available, off-the-shelf hardware. We believe that broader access to high-bandwidth tactile sensing could facilitate the integration of contact dynamics into embodied learning systems and, for some tasks, offer an alternative or complement to increasing the spatial density of tactile sensing.
作者：Joseph Rigal, Emmanuel Virot, Caroline Pascal
来源
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