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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
GeoTLM: Geometry-aware Tactile-Language Models for Contac...
Qiutian Li, Zinan Liu, Lin Wang · 2026-06-15 · via cs.RO updates on arXiv.org

Modern tactile-language models (TLMs) have shown potential for robot learning tasks, such as material and texture recognition. However, for contact-rich scenarios, these TLMs struggle to understand the physical properties of dynamic objects, such as rotation and sliding directions. For instance, our preliminary experiments reveal that popular TLMs, such as Sparsh and AnyTouch2, exhibit weak performance on basic rotation direction reasoning from GelSight Mini tactile data. This surprising gap inspires us to explore a novel research question: Can we inject physically grounded geometric priors into TLMs to enable reliable contact orientation reasoning of dynamic object properties? To this end, we propose GeoTLM, a novel geometric representation-guided TLM for the perception of dynamic contact events. Our key idea is to preserve and structure tactile shear-field geometry before language-level reasoning, rather than forcing low-resolution tactile tokens into fragile closed-form physics operators. To achieve this, we propose a lightweight (only 14k parameters) yet novel Differentiable Geometric Representation (DGR). Specifically, DGR learns a contact-mask-guided representation in the shear field and aggregates it through an antisymmetric seven-region pooling design, motivated by the physical intuition that rotational contact produces antisymmetric deformation patterns. We conduct experiments on two representative tasks: rotation direction and sliding direction reasoning. Extensive experiments show that GeoTLM improves novel-object rotation accuracy by +14.6% and real-sensor sliding accuracy by +16.2% over the same backbone without the geometric encoder. Overall, our work paves a new way for physically grounded tactile-language reasoning, with strong potential for dynamic object understanding and contact-rich robotic manipulation.