arXiv subjects

Carlo Kneissl

Publications and source records attributed to Carlo Kneissl.

3 recordsLinked to original sources

arXiv2026

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 architectures, training datasets, and evaluation protocols, making it difficult to determine which design choices best encode touch. In this work, we address this gap and present a comprehensive study of tactile encoders and fusion strategies across various contact-rich manipulation tasks in real-world experiments. To enable a controlled comparison, we train and evaluate all models under the same pipeline and experimental setup, comprising more than 2000 real-world rollouts. Our results go beyond other studies that only compare simulation performance, which does not necessarily translate to real-world settings, where large-scale evaluations are needed to obtain reliable statistics. Our key finding is that there is no universally optimal representation or fusion strategy for encoding visual-tactile. Instead, the best encoder backbone and fusion scheme depend strongly on the task.

cs.RO↗

arXiv2026

FlowTouch: View-Invariant Visuo-Tactile Prediction

Tactile sensation is essential for contact-rich manipulation tasks. It provides direct feedback on object geometry, surface properties, and interaction forces, enhancing perception and enabling fine-grained control. An inherent limitation of tactile sensors is that readings are available only when an object is touched. This precludes their use during planning and the initial execution phase of a task. Predicting tactile information from visual information can bridge this gap. A common approach is to learn a direct mapping from camera images to the output of vision-based tactile sensors. However, the resulting model will depend strongly on the specific setup and on how well the camera can capture the area where an object is touched. In this work, we introduce FlowTouch, a novel model for view-invariant visuo-tactile prediction. Our key idea is to use an object's local 3D mesh to encode rich information for predicting tactile patterns while abstracting away from scene-dependent details. FlowTouch integrates scene reconstruction and Flow Matching-based models for image generation. Our results show that FlowTouch is able to bridge the sim-to-real gap and generalize to new sensor instances. We further show that the resulting tactile images can be used for downstream grasp stability prediction. Our code, datasets and videos are available at https://flowtouch.github.io/

cs.RO↗

arXiv2025

Improved probabilistic regression using diffusion models

Probabilistic regression models the entire predictive distribution of a response variable, offering richer insights than classical point estimates and directly allowing for uncertainty quantification. While diffusion-based generative models have shown remarkable success in generating complex, high-dimensional data, their usage in general regression tasks often lacks uncertainty-related evaluation and remains limited to domain-specific applications. We propose a novel diffusion-based framework for probabilistic regression that learns predictive distributions in a nonparametric way. More specifically, we propose to model the full distribution of the diffusion noise, enabling adaptation to diverse tasks and enhanced uncertainty quantification. We investigate different noise parameterizations, analyze their trade-offs, and evaluate our framework across a broad range of regression tasks, covering low- and high-dimensional settings. For several experiments, our approach shows superior performance against existing baselines, while delivering calibrated uncertainty estimates, demonstrating its versatility as a tool for probabilistic prediction.

cs.LG↗