Tactile Curiosity Drives Robot Interaction
Mastering robot manipulation skills via reinforcement learning (RL) remains largely sample-inefficient. The most common RL algorithms rely on random action sampling to discover new strategies, resulting in agents that allocate most of their training budget to motions in free space, away from the contacts from which manipulation skills emerge. Existing intrinsic motivation methods based on model disagreement or epistemic uncertainty improve on isotropic noise, but they can also reward uncertainty in functionally irrelevant transitions, such as erratic motions in free space. In this work, we argue that tactile feedback provides a natural signal for exploration, and introduce TacEx, a framew...
| Authors | Klemens Iten, Alexander Proshkin, Bhavya Sukhija et al. |
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| Primary category | cs.RO |
| Published | 30 September 2026 |
| Last updated at source | 13 October 2026 |
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