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TacZero: Training-Free Peg Insertion with Tactile VLM

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TacZero feeds visual, robot-state and three-axis tactile observations to a general-purpose VLM; numerical tactile input raised real cylindrical peg insertion success from 50% to 75%.

TacZeroVision-language modelsTactile SensingPeg InsertionContact-Rich ManipulationOMRON SINICXTactile Perception
Category: arm
Author: @sports_robots
Date: 2026-10-07T00:00:00
Duration: 47.6s
Source: https://x.com/sports_robots/status/2107680571094950387
Reference: https://arxiv.org/abs/2610.07621

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