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Physical-Touch Observability from Wrist Wrench in Granular Scooping

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

Mining and earthmoving are important real-world deployment settings for embodied intelligence. Autonomous transport and driving systems have improved substantially, but loading and scooping still often depend on skilled human operators, exposing personnel and equipment to operational risk. For robotic scooping, pre-contact RGB-D sensing reveals surface geometry but not the resistance, compaction, tool engagement, or load transfer that emerge during interaction. We test whether the current scoop's six-axis wrist force/torque (F/T), or wrist wrench, contains information about final collected vol

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