Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: The Role of Tactile Sensing in Learning and Deploying Grasp Refinement
  Algorithms   A long-standing question in robot hand design is how accurate tactile sensing
must be. This paper uses simulated tactile signals and the reinforcement
learning (RL) framework to study the sensing needs in grasping systems. Our
first experiment investigates the need for rich tactile sensing in the rewards
of RL-based grasp refinement algorithms for multi-fingered robotic hands. We
systematically integrate different levels of tactile data into the rewards
using analytic grasp stability metrics. We find that combining information on
contact positions, normals, and forces in the reward yields the highest average
success rates of 95.4% for cuboids, 93.1% for cylinders, and 62.3% for spheres
across wrist position errors between 0 and 7 centimeters and rotational errors
between 0 and 14 degrees. This contact-based reward outperforms a non-tactile
binary-reward baseline by 42.9%. Our follow-up experiment shows that when
training with tactile-enabled rewards, the use of tactile information in the
control policy's state vector is drastically reducible at only a slight
performance decrease of at most 6.6% for no tactile sensing in the state. Since
policies do not require access to the reward signal at test time, our work
implies that models trained on tactile-enabled hands are deployable to robotic
hands with a smaller sensor suite, potentially reducing cost dramatically.

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The categories of this paper are: cond-mat
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The categories of this paper are: math
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The categories of this paper are: stat
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The categories of this paper are: chao-dyn
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The categories of this paper are: ao-sci
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The categories of this paper are: astro-ph
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The categories of this paper are: cmp-lg
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The categories of this paper are: nucl-ex
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The categories of this paper are: atom-ph
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The categories of this paper are: hep-lat
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The categories of this paper are: gr-qc
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The categories of this paper are: econ
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The categories of this paper are: chem-ph
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The categories of this paper are: physics
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The categories of this paper are: acc-phys
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The categories of this paper are: dg-ga