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GraspTune: Tactile-Driven Execution Refinement for Robust Grasping

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

Visual grasp proposal generation has advanced rapidly, yet converting a selected proposal into a stable physical grasp remains a central execution-stage challenge. This paper introduces GraspTune, a tactile-driven execution-stage refinement framework that starts from a nominal proposal and applies bounded residual TCP motions during approach, contact formation, and final grasp execution. GraspTune learns control-facing contact semantics from local depth, tactile signals, state, and history using state-conditioned expert contact queries and multi-task supervision for contact change, contact ris

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