T-Rex: Tactile-Reactive Dexterous Manipulation
- Published
- Source
- arXiv
- Paper number
- 433
- Field
- Robotics
- arXiv ID
- 2606.17055
Key points
- The architecture uses variable-rate MoT control, separating a low-frequency action expert at about 5 Hz from a high-frequency tactile expert at about 20 Hz.
- A spatio-temporal VQ-VAE-based tactile encoder compresses raw tactile feedback into a compact representation.
- The authors release a 100-hour tactile-synchronized bimanual manipulation dataset, the T-Rex Dataset, covering more than 200 everyday objects and 22 motor primitives.
- On 12 tactile-reactive tasks, it achieves a 65 percent average success rate, which is 30 percent better than the strongest baseline.
Paper links
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