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Tactile-ETA Achieves Fine Manipulation Through Tactile In-Context Learning

The Tactile-ETA system brings tactile experience into embodied task agents through in-context learning, completing fine manipulation without updating model parameters. Across four simulated manipulation tasks, adding tactile observations to the same two expert demonstrations raised average success from 15.75% to 24.00%; on a real robot task, vision- and tactile-aligned demonstrations raised success from 0% to 60%. Experiments also show that performance depends on the sensory content and representation of the demonstrations, and different agent models differ markedly on the Lift Bottle task.

Part of the event: Proposes tactile in-context learning system Tactile-ETA

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