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TACIT: Tactile Contact Supervision for Spatial Attention in Dexterous Manipulation

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Visuomotor policies trained from a few demonstrations may reproduce demonstrated trajectories without reliably following changes in object position. Existing approaches with explicit attention typically obtain spatial priors from human annotation or visual models. We introduce TACIT (tactile contact informs attention), which uses measured tactile contacts from teleoperated demonstrations to supervise spatial attention without additional point annotation. Gaussian targets over preceding camera point clouds supervise an attention head whose pooled output conditions a visuotactile diffusion polic

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