tactile-sensing

A curated, learning-friendly list of tactile sensing research resources for robotic manipulation: papers, datasets, benchmarks, simulation platforms, and frameworks, covering the integration of touch with Vision-Language-Action (VLA) models and World Models for contact-rich manipulation

[ICRA2025] Integrates the vision, touch, and common-sense information of foundational models, customized to the agent's perceptual needs.

🦞 The World's First Sensor-Agnostic Tactile Data Annotation Toolkit — Load any tactile sensor, annotate visually, export a unified schema

A curated list of papers, datasets, simulators, hardware platforms, and open-source resources for dexterous robot hands and hand-object manipulation.

A curated awesome list for dexterous robot manipulation, tactile sensing, dexterous hands, robot learning, datasets, benchmarks, and simulators.

Xense robot-learning platform — a LeRobot v5.1 fork adding Flexiv Rizon4, Elite CS66, ARX5 and tactile grippers (single-arm and bimanual) with VR, SpaceMouse and gamepad teleoperation.

Force-conditioned reinforcement learning for contact-rich precision insertion in Isaac Lab.

TacImag: Imagining the Sense of Touch for Robotic Manipulation

π₀ / π₀-FAST / π₀.₅ vision-language-action models adapted to Xense platforms — fine-tuning and real-world deployment on BiARX5, BiFlexiv and XTac-UMI dual-arm rigs.

DexSkin — High-Coverage Conformable Robotic Skin for Contact-Rich Manipulation

Tactile data collection with the XTac-UMI G1 handheld gripper — a LeRobot v5.1 fork with Pico4 teleoperation, visuotactile cameras and a ready-to-pull Docker image.

Open simulation tool for large-scale vision-based tactile sensing devices, based on a proposed SOFA-GAZEBO-GAN framework.

Official code release for our paper 'APPLE: Toward General Active Perception via Reinforcement Learning'.

Extended Sensing via Dynamic Tactile Sensors

Code for the paper 'Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation' (arXiv:2512.23864)

CONTACT: CONtact-aware TACTile Learning for Robotic Disassembly

Browser-based viewer for local LeRobot datasets — synchronized video and telemetry, 3D URDF replay, language annotation, and dataset health diagnostics.

Vision-language-action stack for contact-rich robot manipulation on sub-$300 hardware. SO-101 + LeRobot; ACT 18/20 and SmolVLA 16/20, both generalizing to a held-out workspace cell.

Documentation for XTac-UMI G1, a handheld tactile data-collection gripper for robot learning.

Official code for Tactile Hide and Seek: tactile-only bimanual object search and retrieval.