You Only Touch Once: 6-DoF Object Pose Estimation from Single Tactile Contact

• URL: http://arxiv.org/abs/2606.28899v1
• Date: Sat, 27 Jun 2026 13:12:57 GMT
• Title: You Only Touch Once: 6-DoF Object Pose Estimation from Single Tactile Contact
• Abstract summary: YOTO is a tactile-only pose estimation system that recovers the full 6-DoF object pose from a single pair of simultaneous contacts.<n>YOTO represents each tactile contact as a local 3D point cloud and localizes it on the object surface through a coarse-to-fine network.<n>Experiments on four geometrically diverse objects demonstrate accurate tactile contact localization and pose estimation, outperforming vision-based and geometric baselines.
• Score: 42.491016490387466
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Accurate 6-DoF object pose estimation is fundamental to robotic manipulation, yet vision-based methods often fail under occlusion, poor lighting, and reflective or transparent surfaces. We present YOTO, a tactile-only pose estimation system that recovers the full 6-DoF object pose from a single pair of simultaneous contacts, without requiring contact history. YOTO represents each tactile contact as a local 3D point cloud and localizes it on the object surface through a coarse-to-fine network. The two localized contacts, together with the calibrated sensor poses, are then fed to a closed-form normal-aware SVD solver that recovers the full 6-DoF object pose in one step. To reduce real-data requirements, the localization network is pretrained on virtual tactile patches sampled from the object model and fine-tuned with a small number of real contacts. We further show that YOTO can operate on object models reconstructed from consumer-grade mobile scans, and quantify the gap relative to CAD-based models. Experiments on four geometrically diverse objects demonstrate accurate tactile contact localization and pose estimation, outperforming vision-based and geometric baselines, especially when visual perception is unreliable. Code, trained models, and the real GelSight dataset will be released upon publication.

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