2026
Contact-Grounded Policy: Dexterous Visuotactile Policy with Generative Contact Grounding
Zhengtong Xu, Yeping Wang, Ben Abbatematteo, Jom Preechayasomboon, Sonny Chan, Nicholas Colonnese +1
RSS 2026poster
Contact-rich dexterous manipulation with multi-finger hands remains an open challenge in robotics because task success depends on multi-point contacts that continuously evolve and are highly sensitive to object geometry, frictional transitions, and slip. Recently, tactile-informed manipulation polic…