Article

Temporal Tactile Encoding and Compliant Control for Intent-Aware Robot-to-Human Bimanual Handover

This study combines a VLA model with a compliant controller, fine-tuning the model using RGB observations, temporally encoded tactile feedback, and proprioception from human demonstrations to achieve robot-to-human bimanual handover. In a human-subject study, the system was compared against two baselines: one without tactile feedback and one with tactile feedback but no compliant control. Results show that compliant control and tactile history are complementary, with performance clearly outperforming the baselines. The project page is publicly available.

Part of the event: Robot-to-Human Bimanual Handover: Combining Tactile and Compliant Control

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