SOURCE-LINKED INTELLIGENCE

Temporal Tactile Encoding and Compliance for Intent-Aware Robot-to-Human Bimanual Handover

arXiv · AI, language, vision and robotics · article · Sep 4, 2026 · UTC

Reliable robot-to-human handover requires the robot to infer when the person is ready to receive the object, and release it safely, comfortably, and at the right time. This is challenging because visual observations alone may not disambiguate clear taking intent from accidental contact, weak grasping, wrong-direction forces, or transient interactions. In this work we treat human-robot handover as an intrinsically multimodal problem. Our approach couples a VLA model with a compliance controller that reduces interaction forces during object transfer. We finetune the VLA model with human demonstr

Read original source ↗ Open in workspace

recordType

paper

region

Global