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

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/oibc2hxuz9n4fsxg50dxb26ei
- Original: https://arxiv.org/abs/2610.27613

## Summary

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.