TacSE3: Equivariant SE(3) Motion Estimation from Low-Texture Visuotactile Images for In-Gripper Tracking and Compensation

• URL: http://arxiv.org/abs/2605.17929v2
• Date: Wed, 27 May 2026 02:03:45 GMT
• Title: TacSE3: Equivariant SE(3) Motion Estimation from Low-Texture Visuotactile Images for In-Gripper Tracking and Compensation
• Abstract summary: TacSE3 is a tactile motion-estimation pipeline that converts low-texture visuotactile observations into a decoupled three-dimensional force field.<n>The method derives planar translation from contact-centroid motion and estimates rotation primarily from shear-related tactile responses.<n>Experiments with paired DM-Tac fingertip sensors show that dual-sensor sensing reduces translation-rotation ambiguity, supports rotation tracking across axes and object geometries, and provides a lightweight compensation signal.
• Score: 21.692486374633418
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Robotic in-hand manipulation requires reliable object-motion tracking under frequent visual occlusion, yet low-texture visuotactile images provide few stable correspondences for conventional image- or geometry-matching methods. This paper presents TacSE3, a tactile motion-estimation pipeline that converts low-texture visuotactile observations into a decoupled three-dimensional force field and estimates incremental rigid-body motion on SE(3). The method derives planar translation from contact-centroid motion and estimates rotation primarily from shear-related tactile responses, yielding a physically interpretable signal for in-gripper tracking and compensation. Experiments with paired DM-Tac fingertip sensors show that dual-sensor sensing reduces translation-rotation ambiguity, supports rotation tracking across axes and object geometries, and provides a lightweight compensation signal that improves disturbance tolerance in downstream manipulation tasks without retraining the base policy.

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