Grasp Approach Under Positional Uncertainty Using Compliant Tactile Sensing Modules and Reinforcement Learning
Bibliographic record
Abstract
Object grasping is a complex task that requires high environmental awareness. While vision generally provides highly detailed environmental information, light changes, object transparency, camera resolution, and other factors such as occlusion and clutter affect its perception of object pose. Due to these limitations, there may be some deviation between the estimated and actual object pose in unstructured environments. The use of compliant tactile sensors relaxes the requirement of strict finger position planning while providing essential information regarding contact with the target object. Therefore, under positional uncertainty, the robotic system may use compliant tactile sensors to perform multiple attempts before a successful grasp. In the present paper, we investigate using reinforcement learning and compliant tactile sensors to provide adaptive grasping under pose uncertainty. Here, we identify a policy that models an object position estimation error while minimizing the exploratory sensor contact before obtaining a grasp. Our method was able to perform a successful grasp while reducing the number of attempts from an average of five to an average of two per episode.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.003 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".