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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
TacCompress: A Benchmark for Multi-Point Tactile Data Com...
Yan Zhao, Yang Li, Zhengxue Cheng, Hengdi Zhang, Li Song · 2025-05-22 · via cs.RO updates on arXiv.org

Though robotic dexterous manipulation has progressed substantially recently, challenges like in-hand occlusion still necessitate fine-grained tactile perception, leading to the integration of more tactile sensors into robotic hands. Consequently, the increased data volume imposes substantial bandwidth pressure on signal transmission from the hand's controller. However, the acquisition and compression of multi-point tactile signals based on the dexterous hands' physical structures have not been thoroughly explored. In this paper, our contributions are twofold. First, we introduce a Multi-Point Tactile Dataset for Dexterous Hand Grasping (Dex-MPTD). This dataset captures tactile signals from multiple contact sensors across various objects and grasping poses, offering a comprehensive benchmark for advancing dexterous robotic manipulation research. Second, we investigate both lossless and lossy compression on Dex-MPTD by converting tactile data into images and applying six lossless and five lossy image codecs for efficient compression. Experimental results demonstrate that tactile data can be losslessly compressed to as low as 0.0364 bits per sub-sample (bpss), achieving approximately 200$\times$ compression ratio compared to the raw tactile data. Efficient lossy compressors like HM and VTM can achieve about 1000$\times$ data reductions while preserving acceptable data fidelity. The exploration of lossy compression also reveals that screen-content-targeted coding tools outperform general-purpose codecs in compressing tactile data.