{"paper":{"title":"Learning Controlled Separation of Small Objects Between Two Fingers with a Tactile Skin","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Berthold B\\\"auml, Ulf Kasolowsky","submitted_at":"2026-05-29T16:08:58Z","abstract_excerpt":"We introduce and solve the novel task of controlled separation of small objects with two fingers of a multi-purpose robotic hand: after grasping into a box of small objects, the task is to drop as many of them until a desired number remains between the fingers. The objects are small compared to the width of the fingers but also in absolute terms. In our case little pellets with a diameter of only 6mm are handled. We show that the task can be performed purely tactile (no vision) using a spatially-resolved tactile skin on a fingertip. The separation policy is trained in simulation via reinforcem"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.31486","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.31486/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}