# NoContactNoWorries: Estimating contact via vision and proprioception to support in-hand dexterous manipulation

- Source: arXiv cs.RO
- Published: 2026-11-09T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/c0161291tew7iupzqnsj1rvlc
- Original: https://arxiv.org/abs/2606.24450

## Summary

NoContactNoWorries proposes a Transformer-based multimodal framework that fuses RGB-D vision with robot proprioception to infer binary contact states for hand-object interaction as a pseudo-tactile signal. The authors train a single contact prediction model on multiple objects and verify that this inferred signal can support downstream reinforcement learning agents in completing in-hand object reorientation, and that it generalizes to new objects. Both simulation and real-robot experiments validate the feasibility of inferring contact from vision and proprioception. The paper has been accepted to IROS 2026.