Author

Pankhuri Vanjani

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Preprint Sep 2026

TACTIC: Understanding Tactile Encoders and Conditioning for Contact-rich Robot Manipulation Policies

Tactile information is essential for contact-rich manipulation tasks in robotics. Vision-based tactile sensors make it particularly easy to design end-to-end manipulation policies with tactile sensing, as they enable the use of existing encoders from computer vision. However, this has led to a huge variety of architect...

Seongjin Bien, Débora Oliveira Makowski, Carlo Kneissl et al. · 0 citations

#artificial intelligence Preprint Sep 2026

ReCAT: Remember, Count, and Time: Structured Recurrent Memory for Robot Manipulation

Memory-dependent manipulation requires robots to make decisions using information that is no longer available to their current sensors, such as recalling an earlier visual cue, tracking task progress, counting repeated events, or estimating elapsed time. We present ReCAT, a language-conditioned policy with structured r...

Pankhuri Vanjani, M. Hatab, Can Mizrakli et al. · 0 citations