论文/arXiv 2610.02338·27 天前

SoTa：用于灵巧操作的软触觉皮肤

SoTa用共享布局的低成本全手触觉皮肤缓解视触觉数据稀缺，并在人机示范共训练和三项操作任务中验证。

AI 整理

• 感知与导航
• 数据与采集
• 评测与安全

原文链接：SoTa: Soft Tactile Skins for Dexterous Manipulation（arXiv 2610.02338 · 发布日期：2026-10-01）

SoTa: Soft Tactile Skins for Dexterous Manipulation

SoTa用共享布局的低成本全手触觉皮肤缓解视触觉数据稀缺，并在人机示范共训练和三项操作任务中验证。

核心要点

• 灵巧操作中触觉可补充视觉，但机器人视触觉示范需遥操作，限制数据规模。
• SoTa为低成本电容式触觉皮肤，覆盖人手和机器人全手，并共享202个taxel布局。
• 多层织物电极设计支持室内制作薄软皮肤，几何可定制，单张材料成本低于10美元。
• 共享布局支持人机共训练；触觉提升分布内成功率，加入人类示范使均值由22.8%升至45.9%。

验证范围与局限：验证范围为三项接触丰富的操作任务和八种评估条件。

英文摘要 (Abstract)

A growing body of work suggests that tactile sensing gives robot policies contact information that complements vision in dexterous manipulation. However, visuo-tactile robot data remains scarce: dexterous demonstrations require teleoperating robots, which limits dataset scale. Human demonstrations are far cheaper to collect and offer a path to scale this data, but only if human and robot hands carry tactile sensors with corresponding signals. This requires sensors that conform to different hand geometries, cover the full hand, and share a common layout across embodiments. We present SoTa, a low-cost capacitive tactile skin that provides full-hand coverage on humans and robots while preserving a shared layout of 202 taxels across corresponding finger and palm regions. Our multilayer design with fabric electrodes enables in-house fabrication of thin, soft skins with customizable geometry for under $10 in materials per skin. The sensor retains over 97% of its initial response span after 10,000 loading-unloading cycles with traces retaining continuity through 1,280 tight-fist folding cycles. The shared taxel layout supports human-robot co-training with a common tactile encoder and no learned cross-sensor mapping. Across three contact-rich manipulation tasks, tactile observations improve in-distribution success over vision-only policies. With a fixed robot demonstration budget, adding human demonstrations more than doubles mean success across eight evaluation conditions, from 22.8% to 45.9%, improving success in all five out-of-distribution conditions. We plan to open-source the resources needed to fabricate and operate these skins.

作者：Jingyun Yang, Baiyu Shi, Timothy Yu, Haitian Liu, Alberta Longhini, Weichen Wang, Rika Antonova, Zhenan Bao, Jeannette Bohg

来源

本页事实对应的公开页面，以原文为准。

1. arXiv 2610.02338：SoTa: Soft Tactile Skins for Dexterous Manipulation访问 2026-10-21