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GLoTouch: Global-to-Local Haptic Perception Using a Parallel Gripper for Object Search, Recognition, and Grasping Without External Vision

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

Perceiving objects in the environment is a fundamental capability of autonomous robots. In dark or low-light environments, external cameras often fail to reliably perceive object positions and geometry; when visual sensing is unavailable, completing target search, recognition, and grasping through touch alone becomes a key robot manipulation capability. This task must simultaneously address container-scale spatial exploration and object-scale fine-grained geometric perception, which is particularly challenging for low-degree-of-freedom parallel grippers. However, a unified framework remains la

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