{"ID":2849131,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.25725","arxiv_id":"2510.25725","title":"A Humanoid Visual-Tactile-Action Dataset for Contact-Rich Manipulation","abstract":"Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world manipulation. To address this gap, we present a humanoid visual-tactile-action dataset designed for manipulating deformable soft objects. The dataset was collected via teleoperation using a humanoid robot equipped with dexterous hands, capturing multi-modal interactions under varying pressure conditions. This work also motivates future research on models with advanced optimization strategies capable of effectively leveraging the complexity and diversity of tactile signals.","short_abstract":"Contact-rich manipulation has become increasingly important in robot learning. However, previous studies on robot learning datasets have focused on rigid objects and underrepresented the diversity of pressure conditions for real-world manipulation. To address this gap, we present a humanoid visual-tactile-action datase...","url_abs":"https://arxiv.org/abs/2510.25725","url_pdf":"https://arxiv.org/pdf/2510.25725v2","authors":"[\"Eunju Kwon\",\"Seungwon Oh\",\"In-Chang Baek\",\"Yucheon Park\",\"Gyungbo Kim\",\"JaeYoung Moon\",\"Yunho Choi\",\"Kyung-Joong Kim\"]","published":"2025-10-28T14:16:10Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}