sungkyunner
UniVTAC Five-Episode Tactile Knot Budget Exchange
A study of tactile-residual knot pinning in B-spline action reconstruction across 20 episodes (5 per task) in four manipulation tasks, comparing fixed and task-calibrated knot budgets to determine whether tactile-selected timing improves reconstruction at fixed action representation capacity.
Downloads69
Episodes20
Why This Matters for Physical AI
Evaluates whether tactile feedback integration improves trajectory reconstruction under fixed action capacity constraints, informing the design of hybrid action-tactile representations for embodied robotic control.
Technical Profile
- Modalities
- proprioceptiontactileaction
- Action Space
- joint_positions
- Environment
- lab
- Task Types
- manipulationgraspinginsertionpick_and_place
- Episodes
- 20
- Annotation Types
- action_labelstactile_residual_labels
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